Article
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Preserved in Portico This version is not peer-reviewed
Fault Detection of Multi Wheeled Robot Consensus Based on EKF
Version 1
: Received: 6 May 2024 / Approved: 8 May 2024 / Online: 9 May 2024 (10:36:27 CEST)
A peer-reviewed article of this Preprint also exists.
Jouili, A.; Boussaid, B.; Zouinkhi, A.; Abdelkrim, M.N. Fault Detection of Multi-Wheeled Robot Consensus Based on EKF. Actuators 2024, 13, 253. Jouili, A.; Boussaid, B.; Zouinkhi, A.; Abdelkrim, M.N. Fault Detection of Multi-Wheeled Robot Consensus Based on EKF. Actuators 2024, 13, 253.
Abstract
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.
Keywords
Wheeled Mobile Robot; master-slave system; Non-linear system; Fault detection and 9 isolation (FDI); residues; Extended Kalman Filter
Subject
Engineering, Electrical and Electronic Engineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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