Fault Detection of Multi Wheeled Robot Consensus Based on EKF

AFRAH JOUILI; Boumedyen Boussaid; Ahmed Zouinkhi; Naceur. Abdelkrim

doi:10.20944/preprints202405.0585.v1

Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Version 1 : Received: 6 May 2024 / Approved: 8 May 2024 / Online: 9 May 2024 (10:36:27 CEST)

In this article the problem of detection and isolation (FDI) in wheeled mobile robot is 1 treated. first of all we consider a master-slave robot system in which the master robot has to follow a 2 desired trajectory given by a well-determined control law, then the slave is controlled by the master. 3 However in real environment there is no ideality because faults can appear in the master or slave 4 or even the both and affect the system and may lead to unacceptable results so to ensure a well 5 functioning an extended kalman filter is tuned to diagnosis eventual faults and to generate residuals 6 in order to detect and isolate them. The performance of an estimator based on an EKF is simulated 7 based MATLAB Simulink simulations.

Wheeled Mobile Robot; master-slave system; Non-linear system; Fault detection and 9 isolation (FDI); residues; Extended Kalman Filter

Engineering, Electrical and Electronic Engineering

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Fault Detection of Multi Wheeled Robot Consensus Based on EKF

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