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Article

Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients

Department of Information and Communication Engineering, DGIST, Daegu 42988, Korea
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Author to whom correspondence should be addressed.
Academic Editors: Nadjim Horri, Karim Dahia, Fabrizio Giulietti, Thomas Statheros and Mauro Innocente
Sensors 2021, 21(22), 7674; https://doi.org/10.3390/s21227674
Received: 19 October 2021 / Revised: 11 November 2021 / Accepted: 16 November 2021 / Published: 18 November 2021
This paper proposes an actuator fault detection method for unmanned ground vehicle (UGV) dynamics with four mecanum wheels. The actuator fault detection method is based on unknown input observers for linear parameter varying systems. The 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. Including the wheel friction, the vehicle dynamics are in the form of linear parameter varying systems. Friction estimation is also discussed in this work, and the effect of friction mismatch was quantitatively investigated by simulations. The effectiveness of proposed method was evaluated under various operation scenarios of the UGV. View Full-Text
Keywords: unmanned ground vehicle; fault detection; unknown input observer; friction coefficient unmanned ground vehicle; fault detection; unknown input observer; friction coefficient
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MDPI and ACS Style

Na, G.; Eun, Y. Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients. Sensors 2021, 21, 7674. https://doi.org/10.3390/s21227674

AMA Style

Na G, Eun Y. Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients. Sensors. 2021; 21(22):7674. https://doi.org/10.3390/s21227674

Chicago/Turabian Style

Na, Gyujin, and Yongsoon Eun. 2021. "Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients" Sensors 21, no. 22: 7674. https://doi.org/10.3390/s21227674

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