Detection & isolation of sensor and actuator additive faults in a 4-mecanum wheeled mobile robot (4-MWMR)

Samia Mellah 1, 2 Guillaume Graton 2 El Mostafa El Adel 2 Mustapha Ouladsine 3, 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 LSIS - Laboratoire des Sciences de l'Information et des Systèmes
Abstract : In this paper, the fault detection and isolation problem regarding actuation and sensing of a 4-mecanum wheeled mobile robot (4-MWMR) is studied. The challenge with respect to the current state of the art lies in detecting and distinguishing wheel sensor from wheel actuator additive faults for this kind of robots. An approach based on generating residuals is proposed. Sensor faults isolation is based on simply analyzing residual signatures which are different under each sensor fault. Due to omni-move properties, actuator faults are, however, more difficult to be isolated. More residual characteristics must be taken into consideration to achieve the isolation.
Keywords : sensor and actuator additive faults kinematic and dynamic model residual signature extended Kalman observer residual generation 4-mecanum mobile robot
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Conference papers
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Submitted on : Tuesday, November 26, 2019 - 6:58:08 PM
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Samia Mellah, Guillaume Graton, El Mostafa El Adel, Mustapha Ouladsine, Alain Planchais. Detection & isolation of sensor and actuator additive faults in a 4-mecanum wheeled mobile robot (4-MWMR). ICCAD 2019 : IEEE-International Conference on Control, Automation and Diagnosis -, Jul 2019, Grenoble, France. ⟨hal-02381863⟩

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