Name
Abstract | ||
|---|---|---|
This paper deals with robust fault detection and isolation using bond graph approach and linear filters. The bond graph tool is used to model the dynamic system and the uncertainties on the sensors and actuators. The same model is used to generate systematically the analytical redundancy relations and the thresholds. A specific form of digital linear filter is used to evaluate the residuals and to ameliorate the robustness and the detectability of the faults. the developed procedure is applied to experimental data of an electromechanical system which is a subsystem of a mobile robot named Robotino. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/ROBIO.2011.6181644 | Robotics and Biomimetics |
Keywords | DocType | ISBN |
bond graphs,digital filters,electromechanical actuators,mobile robots,redundancy,sensors,Robotino,actuators uncertainties,analytical redundancy relations,bond graph tool,digital linear filter,dynamic system model,electromechanical system,faults detectability,mobile robot,robust fault detection,robust fault isolation,robust residuals generation,sensors uncertainties | Conference | 978-1-4577-2136-6 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Youcef Touati | 1 | 14 | 6.10 |
| Belkacem Ould Bouamama | 2 | 8 | 2.82 |
| Rochdi Merzouki | 3 | 117 | 25.83 |