Monitoring of robot path tracking: Reconfiguration strategy design and experimental validation

This paper presents experimental validation in real time of fault detection and isolation and fault tolerant control algorithms for healthy monitoring of an Omni-directional platform, called Robotino@. The latter is composed of three actuated subsystems. The purpose of using fault diagnosis algorithms is to supervise the safe operating of the system, and to study the system reconfigurability strategies in order to ensure that the system remains able to follow a desired trajectory. For such purpose, the fault detectability and isolability is based on analytical redundancy relations. The latter are constraint relations expressing the nominal system behavior and they are written in terms of the measured system variables. Once a fault is detected and the faulty actuated subsystem is determined, the system reconfigurability algorithm analyses the redundancy presented on the former and an appropriate control strategy is applied.