Abstract
This paper proposes an actuator fault detection method for four wheel unmanned ground vehicle (UGV) dynamics. The detection method is based on unknown input observers. Technical novelty of current work compared to similar work in the literature is that wheel frictions are directly taken into account in the dynamics of UGV, and unknown input observers are developed accordingly. The vehicle dynamics is represented into linear parameter varying system and an actuator fault detection method is derived using unknown input observers for linear parameter varying (LPV) systems. The effectiveness of proposed method is evaluated under various operation scenarios of the UGV.
| Original language | English |
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| Title of host publication | 2021 21st International Conference on Control, Automation and Systems, ICCAS 2021 |
| Publisher | IEEE Computer Society |
| Pages | 97-103 |
| Number of pages | 7 |
| ISBN (Electronic) | 9788993215212 |
| DOIs | |
| State | Published - 2021 |
| Event | 21st International Conference on Control, Automation and Systems, ICCAS 2021 - Jeju, Korea, Republic of Duration: 12 Oct 2021 → 15 Oct 2021 |
Publication series
| Name | International Conference on Control, Automation and Systems |
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| Volume | 2021-October |
| ISSN (Print) | 1598-7833 |
Conference
| Conference | 21st International Conference on Control, Automation and Systems, ICCAS 2021 |
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| Country/Territory | Korea, Republic of |
| City | Jeju |
| Period | 12/10/21 → 15/10/21 |
Bibliographical note
Publisher Copyright:© 2021 ICROS.
Keywords
- Four wheel unmanned ground vehicles
- actuator fault detection
- friction coefficient
- swarm scenario
- unknown input observer