Model-based sensor fault detection and isolation system for unmanned ground vehicles:: Theoretical aspects (part I)

被引：11
|
作者：
Monteriu, Andrea [1 ,2 ]
Asthan, Prateek [1 ]
Valavanis, Kirnon [1 ]
Longhi, Sauro [2 ]
机构：
[1] Univ S Florida, Dept Comp Sci & Engn, Tampa, FL 33620 USA
[2] Univ Politecn Marche, Dipartimento Ingn Informat Gest & Automaz, I-60131 Ancona, Italy
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.363879
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents theoretical details of a model-based sensor fault detection and isolation system (SFDIS) applied to unmanned ground vehicles (UGVs). Structural analysis is applied to the nonlinear model of the vehicle for residual generation. Two different solutions have been proposed for developing the residual evaluation module. The vehicle sensor suite includes a Global Positioning System (GPS) antenna, an Inertial Measurement Unit (IMU), and two incremental optical encoders.
引用
收藏
页码：2736 / +
页数：2
相关论文
共 50 条
  • [31] Model-Based Sensor Fault Detection and Diagnosis in Closed-Loop Power Converters for Electric Vehicles
    Ajra, Youssef O.
    Hoblos, Ghaleb
    Al Sheikh, Hiba
    Moubayed, Nazih
    IFAC PAPERSONLINE, 2024, 58 (04): : 366 - 371
  • [32] Model-based fault detection and diagnosis part B:: Applications
    Nelles, O
    Füssel, D
    Ballé, P
    Isermann, R
    PROBABILISTIC SAFETY ASSESSMENT AND MANAGEMENT (PSAM 4), VOLS 1-4, 1998, : 1875 - 1880
  • [33] Robust model-based fault detection for roll rate sensor
    Tseng, HE
    Xu, L
    42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS, 2003, : 1968 - 1973
  • [34] Experimental Validation of Model-Based Thruster Fault Detection for Underwater Vehicles
    Hanai, Aaron M.
    Choi, Song K.
    Marani, Giacomo
    Rosa, Kaikala H.
    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, 2009, : 1548 - +
  • [35] Model-based Sensor-Fault Detection and Isolation in Natural-Gas Pipelines for Transient Flow
    Shaheen, Khadija
    Chawla, Apoorva
    Uilhoorn, Ferdinand Evert
    Rossi, Pierluigi Salvo
    2023 IEEE SENSORS, 2023,
  • [36] UKF-based fault detection and isolation algorithm for IMU sensors of Unmanned Underwater Vehicles
    D'Amato, Egidio
    De Capua, Claudio
    Filianoti, Pasquale Fabio
    Gurnari, Luana
    Nardi, Vito Antonio
    Notaro, Immacolata
    Scordamaglia, Valerio
    2021 IEEE INTERNATIONAL WORKSHOP ON METROLOGY FOR THE SEA (METROSEA 2021), 2021, : 371 - 376
  • [37] Model-Based Off-Nominal State Isolation and Detection System for Autonomous Fault Management
    Kolcio, Ksenia
    Fesq, Lorraine
    2016 IEEE AEROSPACE CONFERENCE, 2016,
  • [38] Quadratic-Kalman-Filter-Based Sensor Fault Detection Approach for Unmanned Aerial Vehicles
    Han, Xiaojia
    Hu, Yiren
    Xie, Anhuan
    Yan, Xufei
    Wang, Xiaobo
    Pei, Chao
    Zhang, Dan
    IEEE SENSORS JOURNAL, 2022, 22 (19) : 18669 - 18683
  • [39] Fault detection and isolation based on the model-based approach: Application on chemical processes
    Olivier-Maget, Nelly
    Hetreux, Gilles
    Le Lann, Jean-Marc
    Le Lann, Marie-Veronique
    18TH EUROPEAN SYMPOSIUM ON COMPUTER AIDED PROCESS ENGINEERING, 2008, 25 : 411 - 416
  • [40] A Model-Based Method for Fault Detection and Isolation of Electric Drive Systems
    Zhang, Jiyu
    Salman, Mutasim
    2020 IEEE INTERNATIONAL CONFERENCE ON PROGNOSTICS AND HEALTH MANAGEMENT (ICPHM), 2020,
12345