Article

SHAPE: An Energy-Based Fault Detection and Isolation Framework for Flat Port-Hamiltonian Mechanical Systems

The paper proposes an energy-based fault diagnosis framework, SHAPE, which combines port-Hamiltonian variables and differential flatness to generate nominal power references from planned motion, constructing mechanical port-power residuals without a dedicated dynamic observer. In simulations of a six-degree-of-freedom Kinova manipulator under model predictive control, SHAPE-CWT achieved an average accuracy of 84.69% on 3000 held-out tests, compared with 81.67% for torque residuals and 97.17% for a generalized momentum observer. The authors note that severity-excitation profiles and offline velocity perturbations limit the method's diagnostic capability.

Part of the event: SHAPE: An Energy-Based Fault Detection Framework Without Dedicated Observers

This page provides a summary and source link only.