publication . Other literature type . Article . 2016

Robust Adaptive Observer based on Multi wheeled Mobile Robot Cooperation Algorithm

O. Hrizi; B. Boussaid; A. Zouinkhi; M. N. Abdelkrim; C. Aubrun;
Open Access English
  • Published: 01 Jan 2016 Journal: Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije, volume 57, issue 4 (issn: 0005-1144, eissn: 1848-3380, Copyright policy)
  • Publisher: KoREMA - Croatian Society for Communications, Computing, Electronics, Measurement and Control
Abstract
Wheeled mobile robots (WMRs) are of great importance. Therefore, it is necessary to make sure that they are not defected. But, in case of failures, the diagnosis task is very important to predict then solve the problem. The most useful techniques in diagnosis are observers which are based on the observability of the monitored system that is not usually ensured by WMR. Thus, to overcome this drawback, an intelligent cooperative diagnosis algorithm is proposed and tested for a group of mobile robots. The diagnosis algorithm is based on robust adaptive unknown input observer applied on unobservable robot. The local non-observability of each robot is solved by coope...
Subjects
free text keywords: Large Scale System (LSS); Cooperative diagnosis; local and global observability; Robust Unknown Input Observer (UIO); multi-robot system; Wheeled Mobile Robot (WMR); Fast Adaptive Fault Estimation (FAFE), sustavi velikih razmjera; kooperativna dijagnoza; lokalna i globalna osmotrivost; robusni observer s nepoznatim ulazom; višerobotski sustav; mobilni robot na kotačima; brza adaptivna estimacija pogreške, local and global observability, Cooperative diagnosis, Large Scale System (LSS), Robust Unknown Input Observer (UIO), multi-robot system, Wheeled Mobile Robot (WMR), Fast Adaptive Fault Estimation (FAFE), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Control and Systems Engineering, General Computer Science, Adaptive observer, Drawback, Observability, Omnidirectional mobile robot, Unobservable, Mobile robot, Computer science, Algorithm, Robot, Observer (quantum physics)
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publication . Other literature type . Article . 2016

Robust Adaptive Observer based on Multi wheeled Mobile Robot Cooperation Algorithm

O. Hrizi; B. Boussaid; A. Zouinkhi; M. N. Abdelkrim; C. Aubrun;