Title :

Fault Diagnosis and Fault Tolerant Control for $${{n}}$$-Linked Two Wheel Drive Mobile Robots

Author(s) :

Al-Dujaili, Ayad [Auteur]
Middle Technical University
Cocquempot, Vincent [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Najjar, Maan [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Pereira, Daniel [Auteur]
Universidade Federal de Lavras = Federal University of Lavras [UFLA]
Humaidi, Amjad [Auteur]

Book title :

Mobile Robot: Motion Control and Path Planning

Publisher :

Springer International Publishing

Publication place :

Cham

Publication date :

2023-07-01

English keyword(s) :

Fault tolerant control
Fault diagnosis FD
Linked mobile robots
Nonlinear observer
Two-wheel drive robots

HAL domain(s) :

Sciences de l'ingénieur [physics]/Automatique / Robotique
Informatique [cs]/Automatique
Informatique [cs]/Modélisation et simulation
Informatique [cs]/Robotique [cs.RO]
Informatique [cs]/Systèmes et contrôle [cs.SY]

English abstract : [en]

This chapter presents Fault Diagnosis (FD) and Fault Tolerant Control (FTC) schemes for multiple physically linked mobile robots. A nonlinear dynamic observer is designed not only to estimate the actuator fault signal (to ...
Show more >This chapter presents Fault Diagnosis (FD) and Fault Tolerant Control (FTC) schemes for multiple physically linked mobile robots. A nonlinear dynamic observer is designed not only to estimate the actuator fault signal (to perform the Fault Diagnosis) but also to estimate the states that are needed in the feedback control law. Firstly, a system with three two-wheel drive (2WD) mobile robots subjected to multiplicative and additive actuators faults was considered. Secondly, the method was generalized for nth order mobile robots. A case study is presented by considering the problem of trajectory tracking of three physically linked 2WD mobile robots. The simulations were performed using the MATLAB/SIMULINK software, and it is shown that the nonlinear adaptive observer is suitable for the estimation of both the system state-space variables and the parameter associated with the actuator faults.Show less >

Language :

Anglais

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL