Robust nonlinear analytic redundancy for fault detection and isolation in mobile robot

被引：12
作者：
Halder B. [1 ]
Sarkar N. [1 ]
机构：
[1] Department of Mechanical Engineering, Vanderbilt University, Nashville
来源：
International Journal of Automation and Computing | 2007年 / 4卷 / 2期
关键词：
Fault detection; Fault isolation; Nonlinear systems; Robustness; Uncertainty;
D O I：
10.1007/s11633-007-0177-2
中图分类号：
学科分类号：
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. © 2007 Institute of Engineering Mechanics, China Earthquake Administration.
引用
收藏
页码：177 / 182
页数：5
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