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Mobile robot additive fault diagnosis and accommodation

Samia Mellah 1 Guillaume Graton 1 El Mostafa El Adel 1 Mustapha Ouladsine 2, 1 Alain Planchais
1 PECASE - Pronostic/Diagnostic Et CommAnde : Santé et Energie
LIS - Laboratoire d'Informatique et Systèmes
2 LSIS - Laboratoire des Sciences de l'Information et des Systèmes
Abstract : 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.
Keywords : Fault accommodation Unicycle mobile robot Fault diagnosis (FDD)
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Submitted on : Tuesday, November 26, 2019 - 7:01:45 PM
Last modification on : Wednesday, January 20, 2021 - 3:12:37 AM

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Samia Mellah, Guillaume Graton, El Mostafa El Adel, Mustapha Ouladsine, Alain Planchais. Mobile robot additive fault diagnosis and accommodation. 2019 8th International Conference on Systems and Control (ICSC), Oct 2019, Marrakesh, Morocco. ⟨hal-02381867⟩

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