In this article the problem of detection and isolation (FDI) in wheeled mobile robot is 1
treated. first of all we consider a master-slave robot system in which the master robot has to follow a 2
desired trajectory given by a well-determined control law, then the slave is controlled by the master. 3
However in real environment there is no ideality because faults can appear in the master or slave 4
or even the both and affect the system and may lead to unacceptable results so to ensure a well 5
functioning an extended kalman filter is tuned to diagnosis eventual faults and to generate residuals 6
in order to detect and isolate them. The performance of an estimator based on an EKF is simulated 7
based MATLAB Simulink simulations.