Volume 4 Number 2
April 2007
Article Contents
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
Cite as: 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

  • Received: 2006-02-08
Fund Project:

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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    沈阳化工大学材料科学与工程学院 沈阳 110142

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

Fund Project:

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).

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.

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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