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Integrating actuator fault and wheel slippage detections within FDI framework

We have witnessed a significant advancement in the field of mobile robot applications in the past two decades. From performing mission critical tasks such as in planetary exploration to simply doing household chores, this type of robots requires availability, reliability and safety of its operatio...

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Main Authors: Sidek, Shahrul Na'im, Sarkar, Nilanjan
Format: Article
Language:English
Published: World Scientific and Engineering Academy and Society (WSEAS) 2007
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://irep.iium.edu.my/22591/1/2007WSEAS_FDI_framework.pdf
http://irep.iium.edu.my/22591/
http://research.vuse.vanderbilt.edu/rasl/2007WSEAS.pdf
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spelling my.iium.irep.225912012-04-04T00:56:57Z http://irep.iium.edu.my/22591/ Integrating actuator fault and wheel slippage detections within FDI framework Sidek, Shahrul Na'im Sarkar, Nilanjan TK Electrical engineering. Electronics Nuclear engineering We have witnessed a significant advancement in the field of mobile robot applications in the past two decades. From performing mission critical tasks such as in planetary exploration to simply doing household chores, this type of robots requires availability, reliability and safety of its operations. Consequently, there is a growing demand for fault tolerant control system (FTCS) for mobile robots where one of it major component is the fault detection and isolation (FDI) module. In our FDI study, one of the challenges in designing the robot model is to create an accurate and robust dynamics model. In this paper, the environment structure, which is the dynamic change in the surface characteristics, will be included. We will utilize Local Neural Model (LNM) in our robot modeling process. Wheel slippage is an event happened when the robot wheels lose their full grasp of the surface. This may cause the robot to deviate from its desired trajectory. On the other hand, the fault on the robot actuator may also lead to similar behavior but need different solution. In this paper we will expand the functionality of FDI module to infer a real actuator fault and wheel slippage in which, the solutions for both events can be combined in a single, common controller. World Scientific and Engineering Academy and Society (WSEAS) 2007-02 Article REM application/pdf en http://irep.iium.edu.my/22591/1/2007WSEAS_FDI_framework.pdf Sidek, Shahrul Na'im and Sarkar, Nilanjan (2007) Integrating actuator fault and wheel slippage detections within FDI framework. WSEAS Transactions on Systems , 6 (2). pp. 298-303. ISSN 1109-2777 http://research.vuse.vanderbilt.edu/rasl/2007WSEAS.pdf
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Sidek, Shahrul Na'im
Sarkar, Nilanjan
Integrating actuator fault and wheel slippage detections within FDI framework
description We have witnessed a significant advancement in the field of mobile robot applications in the past two decades. From performing mission critical tasks such as in planetary exploration to simply doing household chores, this type of robots requires availability, reliability and safety of its operations. Consequently, there is a growing demand for fault tolerant control system (FTCS) for mobile robots where one of it major component is the fault detection and isolation (FDI) module. In our FDI study, one of the challenges in designing the robot model is to create an accurate and robust dynamics model. In this paper, the environment structure, which is the dynamic change in the surface characteristics, will be included. We will utilize Local Neural Model (LNM) in our robot modeling process. Wheel slippage is an event happened when the robot wheels lose their full grasp of the surface. This may cause the robot to deviate from its desired trajectory. On the other hand, the fault on the robot actuator may also lead to similar behavior but need different solution. In this paper we will expand the functionality of FDI module to infer a real actuator fault and wheel slippage in which, the solutions for both events can be combined in a single, common controller.
format Article
author Sidek, Shahrul Na'im
Sarkar, Nilanjan
author_facet Sidek, Shahrul Na'im
Sarkar, Nilanjan
author_sort Sidek, Shahrul Na'im
title Integrating actuator fault and wheel slippage detections within FDI framework
title_short Integrating actuator fault and wheel slippage detections within FDI framework
title_full Integrating actuator fault and wheel slippage detections within FDI framework
title_fullStr Integrating actuator fault and wheel slippage detections within FDI framework
title_full_unstemmed Integrating actuator fault and wheel slippage detections within FDI framework
title_sort integrating actuator fault and wheel slippage detections within fdi framework
publisher World Scientific and Engineering Academy and Society (WSEAS)
publishDate 2007
url http://irep.iium.edu.my/22591/1/2007WSEAS_FDI_framework.pdf
http://irep.iium.edu.my/22591/
http://research.vuse.vanderbilt.edu/rasl/2007WSEAS.pdf
_version_ 1643608432445489152
score 13.211869

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