By Topic

Robust fault detection of mobile robots using an ellipsoid bounding identification algorithm

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Bo Zhou ; Key Lab. of Meas. & Control of CSE, Southeast Univ., Nanjing, China ; Xianzhong Dai

This paper presents a set-membership based robust fault detection approach for mobile robots with dynamic linear in some fault-related parameters. In the framework of set membership identification, the model uncertainties are considered and modeled as unknown-but-bounded noises. A new set-membership identification algorithm using bounding ellipsoid for linear MIMO system derived from robot's dynamics is proposed to obtain the feasible set of parameters, which is supposed to be compatible with the model uncertainties assumptions. The fault detection scheme is established by consistency check of the feasible set in a robust way to distinguish real fault with model uncertainties. Simulation results are given to demonstrate the effectiveness and robustness of the proposed method.

Published in:

Mechatronics and Automation (ICMA), 2011 International Conference on

Date of Conference:

7-10 Aug. 2011