Real-Time Sliding Mode Fault Diagnosis for a Three-Wheeled Omnidirectional Mobile Robot

This work introduces the design of a sliding mode fault diagnoser capable of diagnosing simultaneous faults in a three-wheeled omnidirectional mobile robot. The approach proposes an augmented system comprising the system states and the dynamics of the faults. Based on this, a sliding mode observer is designed to estimate both, the system state and fault magnitudes, allowing the fault diagnosis. This approach leads to light and efficient implementations, which is suitable for real-time applications. The approach has been tested in a real mobile robot showing satisfactory results.