期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 23, 期 4, 页码 1465-1476出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2014.2377175
关键词
Distributed multirobot systems; fault detection and isolation (FDI); networked robots
资金
- Italian Government within the Fund for Investment in Basic Research-Futuro in Ricerca through the NECTAR Project [RBFR08QWUV]
In this paper, we present a distributed fault detection and isolation (FDI) strategy for a team of networked robots that builds on a distributed controller-observer schema. Remarkably different from other works in literature, the proposed FDI approach makes each robot of the team able to detect and isolate faults occurring on other robots, even if they are not direct neighbors. By means of a local observer, each robot can estimate the overall state of the team and it can use such an estimate to compute its local control input to achieve global tasks. The same information used by the local observers is also used to compute residual vectors, whose aim is to allow the detection and the isolation of actuator faults occurring on any robot of the team. Adaptive thresholds are derived based on the dynamics of the residual vectors by considering the presence of nonzero initial observer estimation errors, and noise terms affecting state measurement and model dynamics. The approach is validated via both numerical simulations and experiments involving four Khepera III mobile robots.
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