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Fault Detection and Isolation in Wheeled Mobile Robot

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Intelligent Computing Technology (ICIC 2012)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 7389))

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Abstract

This paper presents a fault detection and isolation scheme for wheeled mobile robots. A nonlinear observer is designed based on the mobile robot dynamic model. The fault is detected when at least one of the residuals exceeds its corresponding threshold. After that, three observers are activated to isolate three types of faults: right wheel fault, left wheel fault, and the other changed dynamic faults.

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References

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Author information

Authors and Affiliations

  1. Graduate School of Electrical Engineering, University of Ulsan, 680-749, Ulsan, South Korea

    Ngoc Bach Hoang

  2. School of Electrical Engineering, University of Ulsan, 680-749, Ulsan, South Korea

    Hee-Jun Kang & Young-Shick Ro

Authors
  1. Ngoc Bach Hoang
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  2. Hee-Jun Kang
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  3. Young-Shick Ro
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Editor information

Editors and Affiliations

  1. School of Electronics and Information Engineering, Machine Learning and Systems Biology Laboratory, Tongji University, 4800 Caoan Road, 201804, Shanghai, China

    De-Shuang Huang

  2. School of Electronics and Information Engineering, Tongji University, 4800 Caoan Road, 201804, Shanghai, China

    Changjun Jiang

  3. Electrical and Electronics Department, Polytechnic of Bari, Via Orabona, 4, 70125, Bari, Italy

    Vitoantonio Bevilacqua

  4. Faculty of Engineering, District University Francisco José de Caldas, Cra. 7a No. 40-53, Fifth Floor, Bogotá, Colombia

    Juan Carlos Figueroa

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© 2012 Springer-Verlag Berlin Heidelberg

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Hoang, N.B., Kang, HJ., Ro, YS. (2012). Fault Detection and Isolation in Wheeled Mobile Robot. In: Huang, DS., Jiang, C., Bevilacqua, V., Figueroa, J.C. (eds) Intelligent Computing Technology. ICIC 2012. Lecture Notes in Computer Science, vol 7389. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31588-6_72

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  • DOI: https://doi.org/10.1007/978-3-642-31588-6_72

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-31587-9

  • Online ISBN: 978-3-642-31588-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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