Abstract
A robust nonlinear analytical redundancy (RNLAR) technique is presented to detect and isolate actuator and sensor faults in a mobile robot. Both model-plant-mismatch (MPM) and process disturbance are considered during fault detection. The RNLAR is used to design primary residual vectors (PRV), which are highly sensitive to the faults and less sensitive to MPM and process disturbance, for sensor and actuator fault detection. The PRVs are then transformed into a set of structured residual vectors (SRV) for fault isolation. Experimental results on a Pioneer 3-DX mobile robot are presented to justify the effectiveness of the RNLAR scheme.
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This work was supported by Army Research Office (No. DAAD19-02-1-0160) and Office of Naval Research (No. N00014-03-1-0052 and N00014-06-1-0146).
Bibhrajit Halder graduated from the Department of Mechanical Engineering at the Birla Institute of Technology (BIT), Mesra, India, in 2000. He received his M.S. degrees in mechanical engineering and applied mathematics from the Ohio University, Athens, USA, in 2002 and 2003 respectively, and the Ph.D. degree from the Vanderbilt University, Nashville, USA, in 2006. He is currently a postdoctoral researcher at the Tennessee State University, Nashville, USA.
His research interest include autonomous control of robotic systems, fault detection and isolation, image processing, and applied mathematics.
Nilanjan Sarkar received his Ph.D. degree from the University of Pennsylvania, USA, in 1993. He then joined Queen’s University, Canada as a postdoctoral fellow and later University of Hawaii as an assistant professor before moving to Vanderbilt University in 2000. He is currently an associate professor of mechanical engineering, and computer engineering at Vanderbilt University.
His research interests include dynamics and control of robotic systems, fault tolerant control, and human-robot interaction.
Dr. Sarkar is currently an associate editor for Journal of Intelligent Systems and Robotics, and Journal of Advanced Robotic Systems. He has previously served as an associate editor for IEEE Transactions on Robotics and as a guest editor for IEEE/ASME Transactions on Mechatronics.
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Halder, B., Sarkar, N. Robust nonlinear analytic redundancy for fault detection and isolation in mobile robot. Int J Automat Comput 4, 177–182 (2007). https://doi.org/10.1007/s11633-007-0177-2
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DOI: https://doi.org/10.1007/s11633-007-0177-2