Actuator fault estimation based on generalized learning observer for quasi‐linear parameter varying systems

2021 ◽  
Author(s):  
Israel I. Zetina‐Rios ◽  
Gloria‐L. Osorio‐Gordillo ◽  
Rodolfo A. Vargas‐Méndez ◽  
Guadalupe Madrigal‐Espinosa ◽  
Carlos‐M. Astorga‐Zaragoza
Keyword(s):  
Fault Estimation ◽  
Actuator Fault ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Linear Parameter Varying Systems ◽  
Parameter Varying

scholarly journals Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7674
Author(s):  
Gyujin Na ◽  
Yongsoon Eun
Keyword(s):  
Fault Detection ◽  
Detection Method ◽  
Unknown Input ◽  
Actuator Fault ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Linear Parameter Varying Systems ◽  
Similar Work ◽  
Unknown Input Observers ◽  
Parameter Varying

This paper proposes an actuator fault detection method for unmanned ground vehicle (UGV) dynamics with four mecanum wheels. The actuator fault detection method is based on unknown input observers for linear parameter varying systems. The technical novelty of current work compared to similar work in the literature is that wheel frictions are directly taken into account in the dynamics of UGV, and unknown input observers are developed accordingly. Including the wheel friction, the vehicle dynamics are in the form of linear parameter varying systems. Friction estimation is also discussed in this work, and the effect of friction mismatch was quantitatively investigated by simulations. The effectiveness of proposed method was evaluated under various operation scenarios of the UGV.

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