Fault Detection and Isolation for Four-Wheel-Driven Omnidirectional Automated Guided Vehicles with Actuator Faults

Automated guided vehicles (AGVs) have been utilized widely on transporting objects in factory or logistic to reduce the demands on human workers for the sake of increasing efficiency and reducing cost. However, the presence of uncertain faults on driving motors could degrades the processes and may cause danger during operation. In this paper, a three-step Fault Detection Isolation Reconfiguration (FDIR) is proposed to ensure that the tracking mission can be achieved in the presence of unknown actuator faults. In the first step, an observer is designed for an AGV to determine whether a fault has occurred or not, while the second step utilizes a bank of observers to determine the type of fault. The third step involves reconfiguring the controller according to the isolation results. In the proposed approach, the FDIR method is addressed in the presence of dynamic uncertainties for both detection and isolation that make the proposed approach superior to the previously developed method. Finally the simulation results are presented to illustrate the effectiveness of the proposed FDIR method for omnidirectional AGV systems.