Model based actuator fault diagnosis for a mobile robot

This paper presents a model based actuator fault diagnosis for a four wheel skid steering mobile robot (SSMR). In this approach we use structural analysis based technique in order to generate residuals. The goal is to detect actuators faults as early as possible and provide a timely warning. For this purpose we develop the kinematic model of the mobile robot that serves to the creation of the structural model of the system. This technique provides the parity equations which can be used as residual generators. The main advantage of the proposed method is that can offers feasible solution to residual generation for nonlinear systems. As a robotic platform, was used the mobile robot Pioneer 3-AT.