Fault Detection of Multi Wheeled Robot Consensus Based on EKF Article Swipe

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A. Jouili , Boumedyen Boussaid , Ahmed Zouinkhi , Naceur Abdelkrim ·

YOU? · · 2024 · Open Access · · DOI: https://doi.org/10.20944/preprints202405.0585.v1

In this article the problem of detection and isolation (FDI) in wheeled mobile robot is 1 treated. first of all we consider a master-slave robot system in which the master robot has to follow a 2 desired trajectory given by a well-determined control law, then the slave is controlled by the master. 3 However in real environment there is no ideality because faults can appear in the master or slave 4 or even the both and affect the system and may lead to unacceptable results so to ensure a well 5 functioning an extended kalman filter is tuned to diagnosis eventual faults and to generate residuals 6 in order to detect and isolate them. The performance of an estimator based on an EKF is simulated 7 based MATLAB Simulink simulations.

Related Topics

Master/Slave (Technology)

Control Engineering

Engineering

Artificial Intelligence

Concepts

Extended Kalman filter Fault detection and isolation Robot Kalman filter Estimator Computer science Control theory (sociology) Mobile robot MATLAB Trajectory Fault (geology) Master/slave Control engineering Engineering Control (management) Artificial intelligence Mathematics Seismology Actuator Astronomy Operating system Statistics Physics Geology

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Type: preprint
Language: en
Landing Page: https://doi.org/10.20944/preprints202405.0585.v1
PDF: https://www.preprints.org/manuscript/202405.0585/v1/download
OA Status: green
Cited By: 1
References: 16
Related Works: 10
OpenAlex ID: https://openalex.org/W4396772427

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DOI: https://doi.org/10.20944/preprints202405.0585.v1

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Title: Fault Detection of Multi Wheeled Robot Consensus Based on EKF

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Type: preprint

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Language: en

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Publication year: 2024

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Publication date: 2024-05-09

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Authors: A. Jouili, Boumedyen Boussaid, Ahmed Zouinkhi, Naceur Abdelkrim

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Landing page: https://doi.org/10.20944/preprints202405.0585.v1

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Concepts: Extended Kalman filter, Fault detection and isolation, Robot, Kalman filter, Estimator, Computer science, Control theory (sociology), Mobile robot, MATLAB, Trajectory, Fault (geology), Master/slave, Control engineering, Engineering, Control (management), Artificial intelligence, Mathematics, Seismology, Actuator, Astronomy, Operating system, Statistics, Physics, Geology

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Cited by: 1

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Citations by year (recent): 2025: 1

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References (count): 16

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