@inproceedings{474c6a228f8343808d6ffef8f7798726,
title = "Model based actuator fault diagnosis for a mobile robot",
abstract = "This paper presents a model based actuator fault diagnosis for a four wheel skid steering mobile robot (SSMR). In this approach we use structural analysis based technique in order to generate residuals. The goal is to detect actuators faults as early as possible and provide a timely warning. For this purpose we develop the kinematic model of the mobile robot that serves to the creation of the structural model of the system. This technique provides the parity equations which can be used as residual generators. The main advantage of the proposed method is that can offers feasible solution to residual generation for nonlinear systems. As a robotic platform, was used the mobile robot Pioneer 3-AT.",
keywords = "Fault diagnosis, mobile robot, structural analysis",
author = "Fourlas, {George K.} and Stavros Karkanis and Karras, {George C.} and Kyriakopoulos, {Kostas J.}",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Industrial Technology, ICIT 2014 ; Conference date: 26-02-2014 Through 01-03-2014",
year = "2014",
month = sep,
day = "9",
doi = "10.1109/ICIT.2014.6894976",
language = "English (US)",
series = "Proceedings of the IEEE International Conference on Industrial Technology",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "79--84",
booktitle = "Proceedings of the IEEE International Conference on Industrial Technology",
}