TY - GEN
T1 - Fault detection and isolation in a mobile robot test-bed
AU - Arogeti, Shai A.
AU - Wang, Danwei
AU - Chang, Boon Low
AU - Yu, Ming
PY - 2009/11/4
Y1 - 2009/11/4
N2 - Recently, a Bond-graph based Fault Detection and Isolation (FDI) framework has been developed with a new concept of Global Analytical Redundancy Relations (GARRs) [1], [2], [3]. This new concept allows the fault diagnosis for hybrid systems which consist of both continuous dynamics and discrete modes. In this paper the newly developed method is studied in details using an electro-hydraulic steering system of a CyCab mobile robot. GARRs are derived systematically from a Hybrid Bond Graph (HBG) model with a specific causality assignment. FDI is applied, experimental setup is described, and results are discussed.
AB - Recently, a Bond-graph based Fault Detection and Isolation (FDI) framework has been developed with a new concept of Global Analytical Redundancy Relations (GARRs) [1], [2], [3]. This new concept allows the fault diagnosis for hybrid systems which consist of both continuous dynamics and discrete modes. In this paper the newly developed method is studied in details using an electro-hydraulic steering system of a CyCab mobile robot. GARRs are derived systematically from a Hybrid Bond Graph (HBG) model with a specific causality assignment. FDI is applied, experimental setup is described, and results are discussed.
UR - http://www.scopus.com/inward/record.url?scp=70350464506&partnerID=8YFLogxK
U2 - 10.1109/AIM.2009.5229982
DO - 10.1109/AIM.2009.5229982
M3 - Conference contribution
AN - SCOPUS:70350464506
SN - 9781424428533
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 398
EP - 404
BT - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
T2 - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Y2 - 14 July 2009 through 17 July 2009
ER -