Experimental Validation of a Real-Time Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles

Monteriù, Andrea; Asthana, Prateek; Valavanis, Kimon P.; Longhi, Sauro

doi:10.1109/med.2006.328690

Cited by 20 publications

(8 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To illustrate the average dwell time approach on the design of the communication sequence, we use the following example. Suppose that there are two sensors in the system, and T * av = 0.96 is obtained with = 0.04 and = 1.04, which guarantees the feasibility of LMIs (15) and (19). Then, the average dwell time of the switched system (10) can be obtained as T av 0.96.…”

Section: Remarkmentioning

confidence: 97%

“…For given scalars 0< <1, >1,¯ and any delay d(k) satisfying d 1 d(k) d 2 , the FD problem is solvable if there exist positive-definite matrices P i,n , Q 1n , Q 2n , Z 1n , Z 2n , and matrices T n , of appropriate dimensions such that (15), (16) and the following inequality: ⎡…”

Section: Theoremmentioning

confidence: 99%

“…In Theorem 2, the average dwell time of the switched system (10) is determined by (16) with appropriate choice of and , which guarantees the feasibility of LMIs (15) and (19). To illustrate the average dwell time approach on the design of the communication sequence, we use the following example.…”

Section: Remarkmentioning

confidence: 99%

“…A numerical example is provided to illustrate the effectiveness and applicability of the proposed technique.Fault detection and isolation (FDI), on the other hand, has been an active field of research over the past decades because of the increasing demand for higher safety and reliability standards. Both theoretical results and practical applications, such as in power plant, coal mills and robotic systems, have been reported in [14][15][16]. Furthermore, with the rapid development of communication networks a great amount of effort has been devoting to the FDI problems for networked control systems (NCSs) [17][18][19][20][21].…”

mentioning

confidence: 99%

See 3 more Smart Citations

Fault detection for a class of network-based nonlinear systems with communication constraints and random packet dropouts

Zhang

Wang

2011

Int. J. Adapt. Control Signal Process.

View full text Add to dashboard Cite

This paper is dealt with the fault detection (FD) problem for a class of network-based nonlinear systems with communication constraints and random packet dropouts. The plant is described by a Takagi-Sugeno fuzzy time-delay model, it has multiple sensors and only one of them is actually communicated with the FD filter at each transmission instant, and the packet dropouts occur randomly. The goal is to design a FD filter such that, for all unknown inputs, control inputs, time delays and incomplete data conditions, the estimation error between the residual and 'fault' (or, more generally, the weighted fault) is minimized. By casting the addressed FD problem into an auxiliary H ∞ filtering problem of a stochastic switched fuzzy time-delay system, a sufficient condition for the existence of the desired FD filter is established in terms of linear matrix inequalities. A numerical example is provided to illustrate the effectiveness and applicability of the proposed technique.

show abstract

Section: Remarkmentioning

confidence: 97%

Section: Theoremmentioning

confidence: 99%

Section: Remarkmentioning

confidence: 99%

mentioning

confidence: 99%

See 2 more Smart Citations

Fault detection for a class of network-based nonlinear systems with communication constraints and random packet dropouts

Zhang

Wang

2011

Int. J. Adapt. Control Signal Process.

View full text Add to dashboard Cite

show abstract

“…Thus, after the detection of a joint failure, the respective joint is isolated from the kinematic chain and the FDD sends an appropriate signal to the control system. The residual generation of our proposed FDD is based upon the structural analysis [23][24][25][26][27][28] technique, which is widely applied in robotics.…”

Section: Fdd-based Control Systemmentioning

confidence: 99%

Improving the Navigability of a Hexapod Robot Using a Fault-Tolerant Adaptive Gait

Asif

2012

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

This paper encompasses a study on the development of a walking gait for fault tolerant locomotion in unstructured environments. The fault tolerant gait for adaptive locomotion fulfills stability conditions in opposition to a fault (locked joints or sensor failure) event preventing a robot to realize stable locomotion over uneven terrains. To accomplish this feat, a fault tolerant gait based on force-position control is proposed in this paper for a hexapod robot to enable stable walking with a joint failure. Furthermore, we extend our proposed fault detection and diagnosis (FDD) method to deal with the critical failure of the angular rate sensors responsible for the attitude control of the robot over uneven terrains. A performance analysis of straight-line walking is carried out which shows that the proposed FDD-based gait is capable of generating an adaptive walking pattern during joint or sensor failures. The performance of the proposed control is established using dynamic simulations and real-world experiments on a prototype hexapod robot.

show abstract

A Framework for Simulation and Testing of UAVs in Cooperative Scenarios

Mancini¹,

Cesetti²,

Iualè³

et al.

Unmanned Aircraft Systems

View full text Add to dashboard Cite

Experimental Validation of a Real-Time Model-Based Sensor Fault Detection and Isolation System for Unmanned Ground Vehicles

Cited by 20 publications

References 12 publications

Fault detection for a class of network-based nonlinear systems with communication constraints and random packet dropouts

Fault detection for a class of network-based nonlinear systems with communication constraints and random packet dropouts

Improving the Navigability of a Hexapod Robot Using a Fault-Tolerant Adaptive Gait

A Framework for Simulation and Testing of UAVs in Cooperative Scenarios

Contact Info

Product

Resources

About