Actuator fault detection and isolation of differential drive mobile robots using multiple model algorithm
| Author | Yazdjerdi, Parisa |
| Author | Meskin, Nader |
| Available date | 2020-09-10T10:45:19Z |
| Publication Date | 2017 |
| Publication Name | 2017 4th International Conference on Control, Decision and Information Technologies, CoDIT 2017 |
| Resource | Scopus |
| Abstract | 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. 1 2017 European Union. |
| Language | en |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Subject | Differential drive mobile robot Extended kalman filter (EKF) Fault detection Isolation (FDI) Multiple-Model (MM) based approach |
| Type | Conference Paper |
| Pagination | 439-443 |
| Volume Number | 2017-January |
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Electrical Engineering [2616 items ]