Sliding mode observer based fault identification in automatic vision system of robot

被引：9
|
作者：
Sergiyenko, Oleg [1 ]
Tyrsa, Vera [2 ]
Zhirabok, Alexey [3 ]
Zuev, Alexander [4 ]
机构：
[1] Univ Autonoma Baja California, Engn Inst, Mexicali, Baja California, Mexico
[2] Univ Autonoma Baja California, Engn Fac, Mexicali, Mexico
[3] Far Eastern Fed Univ, Vladivostok, Russia
[4] Inst Marine Technol Problems, Vladivostok, Russia
来源：
CONTROL ENGINEERING PRACTICE | 2023年 / 139卷
关键词：
Systems; Faults; Identification; Sliding mode observers; Reduced order models; UNKNOWN INPUT OBSERVERS; LINEAR DYNAMIC-SYSTEMS; STATE ESTIMATION; SENSOR; RECONSTRUCTION; DIAGNOSIS; ACTUATOR; DESIGN; NAVIGATION; ACCURACY;
D O I：
10.1016/j.conengprac.2023.105614
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
It is analyzed the possibility to apply sliding mode observers for fault identification and consecutively the improvement of Technical Vision System (TVS) functioning in the tasks of mobile robotics. It is important that in swarm robotics tasks, where the Machine Vision is based on collaborative scanning of frame by several TVSs, the value of each single fault is multiplied. The original approach to system modeling permits us to build the sliding mode observer of reduced order, and apply its estimation for control improvement of scanning aperture DC motor in TVS. It is shown by simulations that estimation of scanner's motor instability is robust and not sensitive to many practical perturbations.
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收藏
页数：11
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