Fault Diagnosis for a Three-Wheel Omidirectional Vehicle: A Geometric Approach

摘要

This work presents a fault diagnoser for a three-wheel omnidirectional vehicle, which is based on the FDI (Fault Detection and Isolation) approach proposed by Massoumnia [1]. It is designed for a linearized model of the vehicle (mobile robot). More precisely, this diagnoser will detect and locate actuator's faults, when the velocities and orientation angle of the robot are considered constants. Then, the efficiency of the proposed method is evaluated on the nonlinear model of the vehicle. By virtue of the method, it is capable to locate both concurrent and non-concurrent faults.