Preprint
Oct 2026
Energy-Based Fault Detection and Isolation Framework for Flat Port-Hamiltonian Mechanical Systems
Fault diagnosis during regulated motion requires informative signals even when feedback attenuates tracking deviations. This paper develops an energy-based diagnostic framework that constructs mechanical port-power residuals without a dedicated dynamic observer. Spectral Hamiltonian Algebraic Power Evaluation (SHAPE) c...
Johnny J. Garcia, Nicolas Salguero, Naveed Iqbal et al.
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