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Abstract
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Article Information:
Model-Based Fault Detection and Estimation in Robotic Wheelchair Using Sliding Mode Observer
Mohammad Hassan Khooban, Mehdi Siahi and Mohammad Reza Soltanpour
Corresponding Author: Mohammad Hassan Khooban
Submitted: March 19, 2012
Accepted: April 06, 2012
Published: July 01, 2012 |
Abstract:
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In this study, sliding mode observer for fault detection and isolation is applied to a Robotic
Wheelchair. In addition, a general review has been done on dynamic model of robotic wheelchair along with
detailed study of the mathematical model of robotic wheelchair system. Then, sliding mode observer is
investigated with detailed comment. In order to isolate and estimate the possible actuator faults a bank of
Sliding Mode Observer (SMO) is designed. Also a simple canonical form for sliding mode observer is
presented. A conclusion of the work will end the report giving future recommendation and comments.
Key words: Canonical form for sliding mode observer, fault detection and isolation, robotic wheelchair, sliding mode observer, , ,
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Abstract
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Cite this Reference:
Mohammad Hassan Khooban, Mehdi Siahi and Mohammad Reza Soltanpour, . Model-Based Fault Detection and Estimation in Robotic Wheelchair Using Sliding Mode Observer. Research Journal of Applied Sciences, Engineering and Technology, (13): 2009-2016.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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