Open AccessFault Identification in Mobile Robot groups using Sliding Mode Observers
Author(s) -
Олег Юрьевич Сергиенко,
Алексей Нилович Жирабок
Publication year - 2021
Publication title -
trudy instituta sistemnogo programmirovaniâ ran/trudy instituta sistemnogo programmirovaniâ
Language(s) - English
Resource type - Journals
eISSN - 2220-6426
pISSN - 2079-8156
DOI - 10.15514/ispras-2021-33(1)-10
Subject(s) - observer (physics) , mode (computer interface) , mobile robot , identification (biology) , control theory (sociology) , computer science , sliding mode control , state observer , control engineering , fault (geology) , robot , artificial intelligence , engineering , control (management) , human–computer interaction , nonlinear system , physics , botany , quantum mechanics , seismology , biology , geology
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.