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

Bibhrajit Halder; Nilanjan Sarkar

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

1.
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN-37212, USA

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

1.
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN-37212, USA

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).

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.
- Fault detection /
- fault isolation /
- nonlinear systems /
- robustness /
- uncertainty
Abstract: 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.
- Fault detection /
- fault isolation /
- nonlinear systems /
- robustness /
- uncertainty

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

doi: 10.1007/s11633-007-0177-2

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

计量

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

doi: 10.1007/s11633-007-0177-2

1. Department of Mechanical Engineering, Vanderbilt University, Nashville, TN-37212, USA

English Abstract

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

1. Department of Mechanical Engineering, Vanderbilt University, Nashville, TN-37212, USA

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

doi: 10.1007/s11633-007-0177-2

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

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出版历程

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

doi: 10.1007/s11633-007-0177-2

1. Department of Mechanical Engineering, Vanderbilt University, Nashville, TN-37212, USA

English Abstract

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

1. Department of Mechanical Engineering, Vanderbilt University, Nashville, TN-37212, USA

全文HTML

目录