Article ID Journal Published Year Pages File Type
721837 IFAC Proceedings Volumes 2006 6 Pages PDF
Abstract

This paper presents a method of fault diagnosis and fault-tolerant control for a joystick controlled wheelchair. The hard faults of sensors and actuators in two drive/steering units of the wheelchair are handled. A fault diagnosis of the sensors and actuators is achieved based on the interacting multiple-model (IMM) estimator. To make better fault decision, mode probability averaging and heuristic decision-making rule are incorporated into the IMM based algorithm. A fault-tolerant control system, which allows a safe motion of the non-holonomic wheelchair even though the drive and steering units have partially failed, is designed based on the Ackerman geometry. Experimental results validate the proposed method.

Related Topics
Physical Sciences and Engineering Engineering Computational Mechanics
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