Fault detection and isolation in a mobile robot test-bed

Author

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

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore, Singapore

fYear

2009

fDate

14-17 July 2009

Firstpage

398

Lastpage

404

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). 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.

Keywords

bond graphs; continuous systems; discrete systems; fault diagnosis; mobile robots; robot dynamics; steering systems; bond-graph based fault detection; continuous dynamic system; discrete mode; electro-hydraulic steering system; fault diagnosis; fault isolation; global analytical redundancy relation; hybrid system; mobile robot test-bed; Bonding; Continuous time systems; Fault detection; Fault diagnosis; Mechatronics; Mobile robots; Monitoring; Power system modeling; Redundancy; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-2852-6

Type

conf

DOI

10.1109/AIM.2009.5229982

Filename

5229982