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

Abstract

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) combines port-Hamiltonian variables and differential flatness to generate nominal power references from planned motion for fully actuated mechanical systems with collocated actuation. Subtracting these references from commanded effort multiplied by measured flow yields residuals whose final evaluation requires neither recursive observer updates nor measured-state dynamics calculations. Continuous wavelet transform (CWT) scalograms and a shared-encoder convolutional neural network are used to distinguish nominal operation, actuator loss of effectiveness, anomalous friction, and vibration from complete trajectories. Evaluation uses a simulated six degree of freedom Kinova manipulator under model predictive control and fixed plant-model mismatch, with single faults at a specified joint. Across five training seeds and 3000 held-out test runs, SHAPE-CWT achieves a mean accuracy of 84.69 percent, versus 81.67 percent for torque residuals and 97.17 percent for the generalized momentum observer under common CWT processing. The respective sample standard deviations are 0.70, 0.70, and 0.37 percentage points. These results demonstrate useful fault-type discrimination from algebraic power residuals, while severity-excitation profiles and offline velocity perturbations reveal limits to their diagnostic capability.