Actuator Fault Detection and Isolation of Differential Drive Mobile Robots Using Multiple Model Algorithm

被引：0

作者：

Yazdjerdi, Parisa ^{[1
]}

Meskin, Nader ^{[1
]}

机构：

[1] Qatar Univ, Dept Elect Engn, Doha, Qatar

来源：

2017 4TH INTERNATIONAL CONFERENCE ON CONTROL, DECISION AND INFORMATION TECHNOLOGIES (CODIT) | 2017年

关键词：

Multiple-Model (MM) based approach; Fault detection and isolation (FDI); Extended kalman filter (EKF); Differential drive mobile robot;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An actuator fault detection and isolation (FDI) scheme is proposed in this paper for differential drive mobile robots based on the concept of multiple model approach. The nonlinear kinematic model of the mobile robot is discretized and a bank of Extended Kalman filters (EKF) is designed to detect and isolate faults. Experimental results are presented to demonstrate the efficiency of the proposed FDI approach.

引用

页码：439 / 443

页数：5

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