Fault Identification in Mobile Robot groups using Sliding Mode Observers
https://doi.org/10.15514/ISPRAS-2021-33(1)-10
Abstract
The paper studies the emerging trends in advanced computing and information technology for efficient solutions of fault identification problem for mobile robot groups under the unmatched disturbances. The sliding mode observers are considered for mentioned problem solution. It facilitates the concept of Smart everything inside the considered robotic group during its generalized control: smart surrounding sensing, communication, processing, and scanned data storing. The suggested novel approach to sliding mode observer design is based on obtaining the reduced order model of the initial system. This allows reduce the complexity of sliding mode observer and relax restrictions imposed on the initial system.
Supporting agencies: The work is partially supported by Russian Scientific Foundation 16-19-00046-P and by the Autonomous University of Baja California, Mexico (project No. 111/2071, in 2018-2020).
About the Authors
Oleg Yurievich SERGIYENKO
Autonomous University of Baja California (UABC)
Mexico
Doctor of Technical Sciences, Head of Applied Physics Department of Instituto de Ingenieria
Mexico
Doctor of Technical Sciences, Head of Applied Physics Department of Instituto de Ingenieria
Alexey Nilovich ZHIRABOK
Far Eastern Federal University
Russian Federation
Doctor of Technical Sciences, Professor, Professor of the Department of Automation and Control
Russian Federation
Doctor of Technical Sciences, Professor, Professor of the Department of Automation and Control
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Review
For citations:
SERGIYENKO O.Yu., ZHIRABOK A.N. Fault Identification in Mobile Robot groups using Sliding Mode Observers. Proceedings of the Institute for System Programming of the RAS (Proceedings of ISP RAS). 2021;33(1):137-150. (In Russ.) https://doi.org/10.15514/ISPRAS-2021-33(1)-10
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