Robust Nonlinear Analytic Redundancy for Fault Detection and Isolation in Mobile Robot

Bibhrajit Halder Nilanjan Sarkar

Bibhrajit Halder, Nilanjan Sarkar. Robust Nonlinear Analytic Redundancy for Fault Detection and Isolation in Mobile Robot[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2007, 4(2): 177-182. doi: 10.1007/s11633-007-0177-2
引用本文: Bibhrajit Halder, Nilanjan Sarkar. Robust Nonlinear Analytic Redundancy for Fault Detection and Isolation in Mobile Robot[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2007, 4(2): 177-182. doi: 10.1007/s11633-007-0177-2
Bibhrajit Halder and Nilanjan Sarkar. Robust Nonlinear Analytic Redundancy for Fault Detection and Isolation in Mobile Robot. International Journal of Automation and Computing, vol. 4, no. 2, pp. 177-182, 2007. doi: 10.1007/s11633-007-0177-2
Citation: Bibhrajit Halder and Nilanjan Sarkar. Robust Nonlinear Analytic Redundancy for Fault Detection and Isolation in Mobile Robot. International Journal of Automation and Computing, vol. 4, no. 2, pp. 177-182, 2007. doi: 10.1007/s11633-007-0177-2

Robust Nonlinear Analytic Redundancy for Fault Detection and Isolation in Mobile Robot

doi: 10.1007/s11633-007-0177-2
基金项目: 

This work was supported by Army Research Office (No.DAAD19-02-1-0160);Office of Naval Research (No.N00014-03-1-0052 and N00014-06-1-0146).

Robust Nonlinear Analytic Redundancy for Fault Detection and Isolation in Mobile Robot

Funds: 

This work was supported by Army Research Office (No.DAAD19-02-1-0160);Office of Naval Research (No.N00014-03-1-0052 and N00014-06-1-0146).

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出版历程
  • 收稿日期:  2006-02-08
  • 修回日期:  2006-12-14
  • 刊出日期:  2007-04-15

Robust Nonlinear Analytic Redundancy for Fault Detection and Isolation in Mobile Robot

doi: 10.1007/s11633-007-0177-2
    基金项目:

    This work was supported by Army Research Office (No.DAAD19-02-1-0160);Office of Naval Research (No.N00014-03-1-0052 and N00014-06-1-0146).

摘要: A robust nonlinear analytical redundancy (RNLAR) technique is presented to detect and isolate actuator and sensor faults in a mobile robot. Both model-plant-mismatch (MPM) and process disturbance are considered during fault detection. The RNLAR is used to design primary residual vectors (PRV), which are highly sensitive to the faults and less sensitive to MPM and process disturbance, for sensor and actuator fault detection. The PRVs are then transformed into a set of structured residual vectors (SRV) for fault isolation. Experimental results on a Pioneer 3-DX mobile robot are presented to justify the effectiveness of the RNLAR scheme.

English Abstract

Bibhrajit Halder, Nilanjan Sarkar. Robust Nonlinear Analytic Redundancy for Fault Detection and Isolation in Mobile Robot[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2007, 4(2): 177-182. doi: 10.1007/s11633-007-0177-2
引用本文: Bibhrajit Halder, Nilanjan Sarkar. Robust Nonlinear Analytic Redundancy for Fault Detection and Isolation in Mobile Robot[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2007, 4(2): 177-182. doi: 10.1007/s11633-007-0177-2
Bibhrajit Halder and Nilanjan Sarkar. Robust Nonlinear Analytic Redundancy for Fault Detection and Isolation in Mobile Robot. International Journal of Automation and Computing, vol. 4, no. 2, pp. 177-182, 2007. doi: 10.1007/s11633-007-0177-2
Citation: Bibhrajit Halder and Nilanjan Sarkar. Robust Nonlinear Analytic Redundancy for Fault Detection and Isolation in Mobile Robot. International Journal of Automation and Computing, vol. 4, no. 2, pp. 177-182, 2007. doi: 10.1007/s11633-007-0177-2
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