Fault detection and isolation in a mobile robot test-bed

Shai A. Arogeti, Danwei Wang, Boon Low Chang, Ming Yu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

12 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Pages398-404
Number of pages7
DOIs
StatePublished - 4 Nov 2009
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Duration: 14 Jul 200917 Jul 2009

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Country/TerritorySingapore
CitySingapore
Period14/07/0917/07/09

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