Robust Adaptive Fault-Tolerant Control of Mobile Robots With Varying Center of Mass

Shen, Zhixi; Ma, Yaping; Song, Yongduan

doi:10.1109/tie.2017.2740845

Cited by 46 publications

(19 citation statements)

References 24 publications

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“…As it can be noticed in (16), sensor faults do not appear in the estimation error for the system (7), namelyθ is influenced just by actuator faults. This allows to isolate sensor and actuator faults (see the section hereafter).…”

Section: Extended Kalman Filtermentioning

confidence: 90%

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Mobile Robot Additive Fault Diagnosis and Accommodation

Mellah

Graton

Adell

et al. 2019

2019 8th International Conference on Systems and Control (ICSC)

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The main contribution of this work is associated to the fault detection and diagnosis (FDD) of sensors & actuators, and fault accommodation applied to wheeled mobile robots. FDD (i.e fault detection, isolation, and estimation) is done by generating and analyzing residuals with different signatures. Estimated faults are then compensated to be tolerated. Simulation results show that this method is very promising.

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Section: Extended Kalman Filtermentioning

confidence: 90%

“…In [16], a robust adaptive FTC is proposed for a 4-WMR under actuator faults by varying its center of mass.…”

Section: Fig 1: Classification Of Ftc Approaches According Tomentioning

confidence: 99%

Mobile Robot Additive Fault Diagnosis and Accommodation

Mellah

Graton

Adell

et al. 2019

2019 8th International Conference on Systems and Control (ICSC)

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“…Notice that the recursive algorithm depends only on weighting and parameter matrices, which are known by the designer. See details in (13), (14), and (16)…”

Section: Robust Linear Quadratic Regulator (Rlqr)mentioning

confidence: 99%

Robust recursive linear quadratic regulator for wheeled mobile robots based on optical motion capture cameras

Inoue

Terra

Leão

et al. 2019

Asian Journal of Control

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In this paper, we deal with nonholonomic wheeled mobile robots (WMR) modeled as uncertain nonlinear systems. Sources of uncertainties can be due to erroneous estimation of mass, inertia, and center of gravity and due to payload time-varying. They also can be considered as external disturbances generated from unstructured environments. We are proposing the use of a robust linear quadratic regulator (RLQR) to deal with tracking problems of WMR. In order to guarantee the effectiveness of this control approach, the robot posture is measured through a high-precision motion capture system. This RLQR encompasses in a unified framework all state and output uncertain parameters of the system and does not depend on any auxiliary parameter to be tuned. It is useful to be used in online applications. Experimental results are presented with a comparative study among the R-LQR, the nonlinear  ∞ control via game theory, and the standard proportional-derivative controller plus computed torque (PD+CT).

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“…This approach does not consider it fixed, but rather considers the situations, like the operation of a mechanical arm, in which the center shifts [28]. These techniques, however, are presented with mathematical heavy or highly complex explanations that make it hard to summarize them, or even adapt them to the different context that is presented here.…”

Section: Mobile Robotsmentioning

confidence: 99%

A Safety Monitoring Model for a Faulty Mobile Robot

2018

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Abstract:The continued development of mobile robots (MR) must be accompanied by an increase in robotics' safety measures. Not only must MR be capable of detecting and diagnosing faults, they should also be capable of understanding when the dangers of a mission, to themselves and the surrounding environment, warrant the abandonment of their endeavors. Analysis of fault detection and diagnosis techniques helps shed light on the challenges of the robotic field, while also showing a lack of research in autonomous decision-making tools. This paper proposes a new skill-based architecture for mobile robots, together with a novel risk assessment and decision-making model to overcome the difficulties currently felt in autonomous robot design.

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Robust Adaptive Fault-Tolerant Control of Mobile Robots With Varying Center of Mass

Cited by 46 publications

References 24 publications

Mobile Robot Additive Fault Diagnosis and Accommodation

Mobile Robot Additive Fault Diagnosis and Accommodation

Robust recursive linear quadratic regulator for wheeled mobile robots based on optical motion capture cameras

A Safety Monitoring Model for a Faulty Mobile Robot

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