Actuator fault detection and isolation of differential drive mobile robots using multiple model algorithm

Yazdjerdi, Parisa; Meskin, Nader

doi:10.1109/codit.2017.8102631

Cited by 7 publications

(2 citation statements)

References 16 publications

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“…Here, it should be pointed out that although several fault detection methods were developed in [16][17][18][19][20], existing methods target two-wheel or four-wheel skid steered mobile robots, which are significantly different from four-mecanum-wheeled UGVs. Here, a summary of existing methods is provided.…”

Section: Introductionmentioning

confidence: 99%

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Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients

Eun

2021

Sensors

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This paper proposes an actuator fault detection method for unmanned ground vehicle (UGV) dynamics with four mecanum wheels. The actuator fault detection method is based on unknown input observers for linear parameter varying systems. The technical novelty of current work compared to similar work in the literature is that wheel frictions are directly taken into account in the dynamics of UGV, and unknown input observers are developed accordingly. Including the wheel friction, the vehicle dynamics are in the form of linear parameter varying systems. Friction estimation is also discussed in this work, and the effect of friction mismatch was quantitatively investigated by simulations. The effectiveness of proposed method was evaluated under various operation scenarios of the UGV.

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Section: Introductionmentioning

confidence: 99%

“…A prediction error-based fault detection algorithm was introduced that can detect wheel faults such as deformations and flat tires. The authors of [20], using extended Kalman filters, developed an actuator fault detection and isolation scheme for two-wheeled differential drive mobile robots.…”

Section: Introductionmentioning

confidence: 99%