A Novel Mittag-Leffler Kernel Based Hybrid Fault Diagnosis Method for Wheeled Robot Driving System

Table 2

BPAs assignments and fusion experiment records.

Fault mode	PCA model	BPAs									Outputs
		m()	m()	m()	m()	m()	m()	m()	m()	m()
		0.004	0.003	0.463	0.003	0.446	0.002	0.024	0.004	0.051
		0.004	0.004	0.492	0.006	0.333	0.003	0.095	0.005	0.058
		0.004	0.003	0.620	0.004	0.279	0.002	0.046	0.003	0.039
		0.001	0.001	0.708	0.001	0.151	0.001	0.107	0.002	0.028
		0.004	0.002	0.350	0.002	0.546	0.002	0.010	0.003	0.081
		0.004	0.002	0.498	0.004	0.410	0.002	0.025	0.004	0.051
		0.002	0.002	0.507	0.002	0.390	0.002	0.047	0.003	0.045
		0.003	0.002	0.609	0.003	0.301	0.002	0.006	0.003	0.071
	DS	0.000	0.000	0.959	0.000	0.041	0.000	0.000	0.000	0.000
		0.007	0.004	0.419	0.006	0.501	0.002	0.005	0.005	0.051
		0.005	0.003	0.021	0.004	0.902	0.002	0.001	0.004	0.058
		0.006	0.003	0.515	0.005	0.423	0.002	0.003	0.004	0.039
		0.001	0.001	0.022	0.001	0.942	0.000	0.003	0.002	0.028
		0.007	0.003	0.742	0.004	0.153	0.002	0.002	0.006	0.081
		0.007	0.003	0.320	0.005	0.605	0.002	0.002	0.005	0.051
		0.004	0.003	0.400	0.003	0.535	0.002	0.004	0.004	0.045
		0.005	0.003	0.363	0.005	0.544	0.002	0.002	0.005	0.071
	DS	0.000	0.000	0.005	0.000	0.995	0.000	0.000	0.000	0.000