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

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

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

Samia Mellah ^{1, 2} Guillaume Graton ³ El Mostafa El Adel ² Mustapha Ouladsine ² Alain Planchais

1 LIS - Laboratoire d'Informatique et Systèmes

2 PECASE - Pronostic/Diagnostic Et CommAnde : Santé et Energie

LIS - Laboratoire d'Informatique et Systèmes

3 LVR - Laboratoire Vision et Robotique

Abstract : In this paper, a combination of model-based and hardware redundancy methods is proposed for both sensor and actuator fault detection and isolation (FDI) of unicycle mobile robots. A focus is brought on robot drift-like faults on wheels and sensors. The goal is to detect and isolate the faulty component as early as possible. The proposed method is based on a combination of hardware redundancy and a bank of Extended Kalman Filters (EKF). Each filter is tuned for a specific fault, to generate residuals with different signatures under different component faults. The different signatures allow the fault isolation. Simulation results show that the proposed method allow to detect both wheels and sensors small drift-like faults and isolate them as early as possible. Fault Detection and Isolation (FDI), Unicycle mobile robot, Drift-like faults, Extended Kalman Filter (EKF), Hardware redundancy.

Document type :

Conference papers

Domain :

Computer Science [cs] / Automatic Control Engineering

Complete list of metadatas

Cited literature [21 references] Display Hide Download

https://hal.archives-ouvertes.fr/hal-02003348
Contributor : Samia Mellah <>
Submitted on : Friday, February 1, 2019 - 11:40:17 AM
Last modification on : Tuesday, April 2, 2019 - 1:39:55 AM
Long-term archiving on : Thursday, May 2, 2019 - 3:58:29 PM

1__FDI_article.pdf

Files produced by the author(s)

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

File

Identifiers

Collections

Citation

Export

Metrics

89

112

Contact

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

File

Identifiers

Collections

Citation

Export

Share

Metrics

89

112

Contact