On fault detection and isolation applied on unicycle mobile robot sensors and actuators

Mellah, Samia; Graton, Guillaume; Adel, El Mostafa El; Ouladsine, Mustapha; Planchais, Alain

doi:10.1109/icosc.2018.8587845

Cited by 15 publications

(4 citation statements)

References 13 publications

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“…Excessively high thresholds may result in failing to detect a fault (missed alarm), while overly low thresholds may lead to false alarms, detecting faults in healthy conditions [18]. There exist two categories of thresholds [8]: the first being a constant threshold, and the second an adaptive one.…”

Section: Fault Diagnosis Stepsmentioning

confidence: 99%

Fault Detection of Multi Wheeled Robot Consensus Based on EKF

JOUILI,

Boussaid,

Zouinkhi

et al. 2024

Preprint

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In this article the problem of detection and isolation (FDI) in wheeled mobile robot is 1 treated. first of all we consider a master-slave robot system in which the master robot has to follow a 2 desired trajectory given by a well-determined control law, then the slave is controlled by the master. 3 However in real environment there is no ideality because faults can appear in the master or slave 4 or even the both and affect the system and may lead to unacceptable results so to ensure a well 5 functioning an extended kalman filter is tuned to diagnosis eventual faults and to generate residuals 6 in order to detect and isolate them. The performance of an estimator based on an EKF is simulated 7 based MATLAB Simulink simulations.

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Section: Fault Diagnosis Stepsmentioning

confidence: 99%

Fault Detection of Multi Wheeled Robot Consensus Based on EKF

JOUILI,

Boussaid,

Zouinkhi

et al. 2024

Preprint

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“…This approach is applied to the fault‐tolerant control of sensors. In “On fault detection and isolation applied on unicycle mobile robot sensors and actuators” (Mellah et al, 2018), a method was designed to deal with robot sensor faults. By analyzing the residual signals between the system and the Kalman filter set, this method handled the faults of gyroscope sensors, and was proved effective in sensor faults handling and fault‐tolerant system control.…”

Section: Condition Monitoring and Intelligent Maintenance In Crmentioning

confidence: 99%

A review for control theory and condition monitoring on construction robots

Shi

Bai

et al. 2023

Journal of Field Robotics

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The application of robotic technologies in building construction leads to great convenience and productivity improvement, and construction robots (CRs) bring enormous opportunities for the way we conduct design and construction. To get a better understanding of the trends and track the application of CRs for on‐site conditions, this paper conducts a systematic review of control models and status monitoring of CRs, which are two key aspects that determine construction accuracy and efficiency. Control accuracy and flexibility are primary needs for CRs applied in different scenes, so the control methods based on driving models are vitally important. Status monitoring on CRs contains knowledge in fault detection, intelligence maintenance, and fault‐tolerant control, and multiple objectives need to be met and optimized in the whole drive chain. Moreover, the state‐of‐the‐art is comprehensively summarized, and new insights are also provided to carry on promising researches.

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“…On the other hand, WMR actuator faults, although their importance, are not widely studied. In [15], a methodology using a structural analysis-based technique is proposed to detect a unicycle mobile robot actuator faults, while in [16], authors propose to combine a KF and hardware redundancy to detect and isolate both of sensor and actuator faults in an unicycle mobile robot.…”

Section: Some Related Workmentioning

confidence: 99%

4-mecanum wheeled mobile robot actuator fault detection & isolation using unknown input observer-based approach

Mellah

Graton

Adel

et al. 2020

2020 European Control Conference (ECC)

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This paper proposes an approach for actuator fault detection & isolation (FDI) in a four mecanum wheeled mobile robots (4-MWMRs). The approach is based on a bank of unknown input observers (UIO) for linear parameter varying (LPV) systems. The FDI is challenging by considering faults with small amplitude and measurements with noise. Added to that, and considering the robot closed-loop control, the faults are compensated and they cannot be detected without a robust FDI algorithm. The objective is to detect and isolate actuator faults before the robot closed-loop deteriorates and leads to an unacceptable extent. keywords: 4-mecanum wheeled mobile robot, dynamic model, actuator faults. *Research leading to these results has received funding from the EU ECSEL Joint Undertaking under grant agreement n 737459 (project Pro-ductive4.0) and from the partners national funding authorities DGE.

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On fault detection and isolation applied on unicycle mobile robot sensors and actuators

Cited by 15 publications

References 13 publications

Fault Detection of Multi Wheeled Robot Consensus Based on EKF

Fault Detection of Multi Wheeled Robot Consensus Based on EKF

A review for control theory and condition monitoring on construction robots

4-mecanum wheeled mobile robot actuator fault detection & isolation using unknown input observer-based approach

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