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

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.
Document type :
Conference papers
Complete list of metadatas

Cited literature [14 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-02381863
Contributor : Samia Mellah <>
Submitted on : Tuesday, November 26, 2019 - 6:58:08 PM
Last modification on : Saturday, January 25, 2020 - 1:13:01 AM

File

2. ICCAD'19.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-02381863, version 1

Citation

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⟩

Share

Metrics

Record views

64

Files downloads

14