Robust Monitoring of an Omnidirectionnal ...
Document type :
Partie d'ouvrage
Title :
Robust Monitoring of an Omnidirectionnal Mobile Robot
Author(s) :
Touati, Youcef [Auteur correspondant]
LAGIS-MOCIS
Merzouki, Rochdi [Auteur]
LAGIS-MOCIS
Ould Bouamama, Belkacem [Auteur]
LAGIS-MOCIS
LAGIS-MOCIS
Merzouki, Rochdi [Auteur]
LAGIS-MOCIS
Ould Bouamama, Belkacem [Auteur]
LAGIS-MOCIS
Scientific editor(s) :
ROCHDI MERZOUKI
Book title :
Mechatronic & Innovative Applications
Publisher :
BENTHAM SCIENCE
Publication date :
2012
ISBN :
978-1- 60805-440-4
English keyword(s) :
Fault detection and isolation
Mobile Robot
uncertainty modeling.
uncertainty modeling
Mobile Robot
uncertainty modeling.
uncertainty modeling
HAL domain(s) :
Sciences de l'ingénieur [physics]/Automatique / Robotique
English abstract : [en]
This chapter deals with robust fault detection and isolation using the bond graph (BG) approach and linear filters. The bond graph tool is used to model the dynamic system and the uncertainties on the sensors and actuators. ...
Show more >This chapter deals with robust fault detection and isolation using the bond graph (BG) approach and linear filters. The bond graph tool is used to model the dynamic system and the uncertainties on the sensors and actuators. The same model is used to generate systematically the analytical redundancy relations and the thresholds. A specific form of digital linear filter is used to evaluate the residuals and to ameliorate the robustness and the detectability of the faults. the developed procedure is applied to experimental data of an electromechanical system which is a subsystem of a mobile robot named Robotino.Show less >
Show more >This chapter deals with robust fault detection and isolation using the bond graph (BG) approach and linear filters. The bond graph tool is used to model the dynamic system and the uncertainties on the sensors and actuators. The same model is used to generate systematically the analytical redundancy relations and the thresholds. A specific form of digital linear filter is used to evaluate the residuals and to ameliorate the robustness and the detectability of the faults. the developed procedure is applied to experimental data of an electromechanical system which is a subsystem of a mobile robot named Robotino.Show less >
Language :
Anglais
Audience :
Non spécifiée
Popular science :
Non
Collections :
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