A Compensation-Based Polynomial Fuzzy Fault Detection Method for Single-Link Rigid Robot System

For a single-link rigid robot system, this paper investigates a novel polynomial fuzzy fault detection scheme with a compensation vector. Unmeasurable premise variables are considered, while the stability of the original system is no longer required. Membership-function-dependent constraints to keep the residual system asymptotically stable are given in the format of Sum-of-Squares. Simulation results demonstrate the validity of the proposed method.