Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients

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...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Gyujin Na, Yongsoon Eun
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	unmanned ground vehicle fault detection unknown input observer friction coefficient Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/b6c83d7604324605bfb0fee3fdab1930
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:b6c83d7604324605bfb0fee3fdab1930
record_format	dspace
spelling	oai:doaj.org-article:b6c83d7604324605bfb0fee3fdab19302021-11-25T18:58:22ZActuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients10.3390/s212276741424-8220https://doaj.org/article/b6c83d7604324605bfb0fee3fdab19302021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7674https://doaj.org/toc/1424-8220This 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.Gyujin NaYongsoon EunMDPI AGarticleunmanned ground vehiclefault detectionunknown input observerfriction coefficientChemical technologyTP1-1185ENSensors, Vol 21, Iss 7674, p 7674 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	unmanned ground vehicle fault detection unknown input observer friction coefficient Chemical technology TP1-1185
spellingShingle	unmanned ground vehicle fault detection unknown input observer friction coefficient Chemical technology TP1-1185 Gyujin Na Yongsoon Eun Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients
description	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.
format	article
author	Gyujin Na Yongsoon Eun
author_facet	Gyujin Na Yongsoon Eun
author_sort	Gyujin Na
title	Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients
title_short	Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients
title_full	Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients
title_fullStr	Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients
title_full_unstemmed	Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients
title_sort	actuator fault detection for unmanned ground vehicles considering friction coefficients
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/b6c83d7604324605bfb0fee3fdab1930
work_keys_str_mv	AT gyujinna actuatorfaultdetectionforunmannedgroundvehiclesconsideringfrictioncoefficients AT yongsooneun actuatorfaultdetectionforunmannedgroundvehiclesconsideringfrictioncoefficients
_version_	1718410485049589760

Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients

Ejemplares similares