Mobile robot additive fault diagnosis and accommodation
Résumé
The main contribution of this work is associated to the fault detection and diagnosis (FDD) of sensors & actuators, and fault accommodation applied to wheeled mobile robots. FDD (i.e fault detection, isolation, and estimation) is done by generating and analyzing residuals with different signatures. Estimated faults are then compensated to be tolerated. Simulation results show that this method is very promising.
Domaines
Automatique / Robotique
Origine : Fichiers produits par l'(les) auteur(s)
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