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Mathematical Problems in Engineering
Volume 2014, Article ID 121636, 8 pages
Research Article

Distributed Fault Estimation of Nonlinear Networked Systems: Application to Robotic Manipulator

1Department of Automation, Zhejiang University of Technology, Hangzhou 310032, China
2School of Automation and Electrical and Engineering, Zhejiang University of Science and Technology, Hangzhou 310032, China

Received 10 June 2014; Accepted 15 July 2014; Published 12 August 2014

Academic Editor: Yun-Bo Zhao

Copyright © 2014 Juntong Chen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper is concerned with the distributed fault estimation for a class of nonlinear networked systems, where the T-S fuzzy model is utilized to approximate the nonlinear plant and the whole fault estimation task is operated by a wireless sensor network. Due to the limited power in sensors, signal is quantized before transmission. Based on the Lyapunov stability theory and the robust control approach, a sufficient condition is obtained such that the estimation error system is asymptotic stable with a prescribed performance level. Finally, a case study on the actuator fault estimation of robotic manipulator is given to show the effectiveness of the proposed design.