Fault Detection and Isolation in Wheeled Mobile Robot
This paper presents a fault detection and isolation scheme for wheeled mobile robots. A nonlinear observer is designed based on the mobile robot dynamic model. The fault is detected when at least one of the residuals exceeds its corresponding threshold. After that, three observers are activated to isolate three types of faults: right wheel fault, left wheel fault, and the other changed dynamic faults.
Keywordswheeled mobile robots nonlinear observer fault detection fault isolation
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