scholarly journals Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7674
Author(s):  
Gyujin Na ◽  
Yongsoon Eun
Keyword(s):  
Fault Detection ◽  
Detection Method ◽  
Unknown Input ◽  
Actuator Fault ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Linear Parameter Varying Systems ◽  
Similar Work ◽  
Unknown Input Observers ◽  
Parameter Varying

This paper proposes an actuator fault detection method for unmanned ground vehicle (UGV) dynamics with four mecanum wheels. The actuator fault detection method is based on unknown input observers for linear parameter varying systems. The technical novelty of current work compared to similar work in the literature is that wheel frictions are directly taken into account in the dynamics of UGV, and unknown input observers are developed accordingly. Including the wheel friction, the vehicle dynamics are in the form of linear parameter varying systems. Friction estimation is also discussed in this work, and the effect of friction mismatch was quantitatively investigated by simulations. The effectiveness of proposed method was evaluated under various operation scenarios of the UGV.

scholarly journals Actuator fault detection and isolation on a quadrotor unmanned aerial vehicle modeled as a linear parameter-varying system

2019 ◽  
Vol 52 (9-10) ◽  
pp. 1228-1239 ◽  
Author(s):  
Julio Alberto Guzmán-Rabasa ◽  
Francisco Ronay López-Estrada ◽  
Brian Manuel González-Contreras ◽  
Guillermo Valencia-Palomo ◽  
Mohammed Chadli ◽  
...  
Keyword(s):  
Fault Detection ◽  
Unmanned Aerial Vehicle ◽  
Fault Detection And Diagnosis ◽  
Fault Detection And Isolation ◽  
Actuator Fault ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Aerial Vehicle ◽  
Parameter Varying ◽  
Detection And Diagnosis

This paper presents the design of a fault detection and diagnosis system for a quadrotor unmanned aerial vehicle under partial or total actuator fault. In order to control the quadrotor, the dynamic system is divided in two subsystems driven by the translational and the rotational dynamics, where the rotational subsystem is based on a linear parameter-varying model. A robust linear parameter-varying observer applied to the rotational subsystem is considered to detect actuator faults, which can occur as total failures (loss of a propeller or a motor) or partial faults (degradation). Furthermore, fault diagnosis is done by analyzing the displacements of the roll and pitch angles. Numerical experiments are carried out in order to illustrate the effectiveness of the proposed methodology.

Actuator fault estimation based on generalized learning observer for quasi‐linear parameter varying systems

2021 ◽  
Author(s):  
Israel I. Zetina‐Rios ◽  
Gloria‐L. Osorio‐Gordillo ◽  
Rodolfo A. Vargas‐Méndez ◽  
Guadalupe Madrigal‐Espinosa ◽  
Carlos‐M. Astorga‐Zaragoza
Keyword(s):  
Fault Estimation ◽  
Actuator Fault ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Linear Parameter Varying Systems ◽  
Parameter Varying
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