Fault detection of a 6-DOF hydraulic platform based on equivalent-input-disturbance approach

This paper presents a method of fault detection for a 6-degree-of-freedom hydraulic platform based on the equivalent-input-disturbance (EID) approach. First, a model of the platform is derived based on the Lagrange equation. Then, the types of actuator faults are analyzed. Finally, an optimal feedback controller is designed and the EID approach is incorporated to detect and suppress actuator faults. Simulation results demonstrate the effectiveness of the method.