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    Abstract
2012 (Vol. 4, Issue: 13)
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 

Key words:  Canonical form for sliding mode observer, fault detection and isolation, robotic wheelchair, sliding mode observer, , ,
Vol. 4 , (13): 2009-2016
Submitted Accepted Published
March 19, 2012 April 06, 2012 July 01, 2012
Abstract:

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.
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  Cite this Reference:
Mohammad Hassan Khooban, Mehdi Siahi and Mohammad Reza Soltanpour, 2012. Model-Based Fault Detection and Estimation in Robotic Wheelchair Using Sliding Mode Observer.  Research Journal of Applied Sciences, Engineering and Technology, 4(13): 2009-2016.
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ISSN (Online):  2040-7467
ISSN (Print):   2040-7459
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