4-mecanum wheeled mobile robot actuator fault detection & isolation using unknown input observer-based approach

Abstract

This paper proposes an approach for actuator fault detection & isolation (FDI) in a four mecanum wheeled mobile robots (4-MWMRs). The approach is based on a bank of unknown input observers (UIO) for linear parameter varying (LPV) systems. The FDI is challenging by considering faults with small amplitude and measurements with noise. Added to that, and considering the robot closed-loop control, the faults are compensated and they cannot be detected without a robust FDI algorithm. The objective is to detect and isolate actuator faults before the robot closed-loop deteriorates and leads to an unacceptable extent.