Prediction of multiple failures for a mobile robot steering system
Date of Issue2012
IEEE International Symposium on Industrial Electronics (21st : 2012 : Hangzhou, China)
School of Electrical and Electronic Engineering
Fault diagnosis and failure prognosis are critical techniques to improve the safety and reliability of modern complex electromechanical systems. In this paper, a model-based prognosis method is developed to deal with multiple incipient faults in a mobile robot steering system. This method utilizes the concept of Augmented Global Analytical Redundancy Relations (AGARRs) to handle failures with both parametric and non-parametric nature. In order to realize multiple failures prediction, a multiple Hybrid Particle Swarm Optimization (HPSO) algorithm is proposed. Simulation results verify the effectiveness of the proposed method in a front steering system of a CyCab mobile robot.
DRNTU::Engineering::Electrical and electronic engineering