Fault detection and isolation system design for omnidirectional soccer-playing robots

Proceedings of the 2006 IEEE Conference on Computer Aided Control Systems Design, CACSD

Volumn , Issue , 2007, Pages 2641-2646

  Valdivieso, Cristóbal ^a,b   Cipriano, Aldo ^a,b  

^a IEEE

^b PONTIFICIA UNIVERSIDAD CATÓLICA DE CHILE   (Chile)

Author keywords

[No Author keywords available]

Indexed keywords

MOTOR ENCODER DECOUPLING; PARTICLE FILTERS; SOCCER PLAYING ROBOTS;

COMPUTER SIMULATION; EXTENDED KALMAN FILTERS; FAULT DETECTION; ROBOT PROGRAMMING; ROBUSTNESS (CONTROL SYSTEMS); SYSTEMS ANALYSIS; VOLTAGE CONTROL;

MOBILE ROBOTS;

EID: 43049170119     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CACSD.2006.285523     Document Type: Conference Paper

References (12)

1. J. Korbicz, J.M. Koscielny, Z. Kowalczuk and W. Cholewa, Fault Diagnosis. Springer- Verlag, 2004, eh. 3.
2. R. E. Kalman, "A new approach to linear filtering and prediction problems," Trans. of the ASME-Joumal of Basic Engineering, vol. 86, pp. 35-45, March 1960.
3. G. Welch, and G. Bishop, "An introduction to the Kalman filter," University of North Carolina, Chapel Hill, NC, Tech. Rep. TR-95-041, April 2004.
4. S. Arulampalam, S. Máskell, N. Gordon and T. Clapp, "A tutorial on particle filters for online non-linear/non-gaussian bayesian tracking," IEEE Trans. on Signal Processing, vol. 50, no. 2. pp. 174-188, Feb. 2002.
5. B. Ristic, S. Arumpalam and N. Gordon, Beyond Kalman Filter, Particle Filters for Tracking Applications. Artech House Publishers, 2004, pp. 35-65.
6. F. G. Pin, and S. M. Killough, "A new family of omnidirectional and holonomic wheeled platforms for mobile robots," IEEE Trans. on Robotics and Automation, vol. 10, no. 4, pp. 480-489, Aug. 1994.
7. Y. Liu, X. Wu, J. Zhu and J. Lew, "Omni-directional mobile robot controller design by trajectory linearization," in Proc. American Control Conf, 2003, vol. 4, no. 4-6, pp. 3423-3428.
8. R. Rojas, Models for DC motors. [On-line]. Available: http://robocup.mi.fu-berlin.de/buch/motors.pdf
9. S. I. Roumeliotis, G. S. Sukhatme and G. A. Bekey, "Fault detection and identification in a mobile robot using multiple-model estimation," in Proc. IEEE International Conf. on Robotics and Automation, 1998, pp. 2223-2228.
10. P. D. Hanlon and P. S. Maybeck, "Multiple-model adaptive estimation using a residual correlation Kalman filter bank," IEEE Trans, on Aerospace and Electric Systems, vol.10, no. 2, pp. 393-406, Apr. 2000.
11. N. de Freitas, "Rao-Blackwellised particle filtering for fault diagnosis," in Proc. IEEE Aerospace Conf., 2001, vol. 4, pp. 1767-1772.
12. J.F. Araya and A. Cipriano, "Optimal Identification of Takagi-Sugeno Fuzzy Models for Non-Linear FDI," submitted to. 6th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Process, SAFEPROCESS 2006, Beijing, P.R. China.