Fault Diagnosis and Fault-Tolerant Control of Robotic and Autonomous Systems
Published on 19. August 2020
Book
Hardback
326 pages
978-1-78561-830-7 (ISBN)
Description
Robotic systems have experienced exponential growth thanks to their incredible adaptability. Modern robots require an increasing level of autonomy, safety and reliability. This book addresses the challenges of increasing and ensuring reliability and safety of modern robotic and autonomous systems. The book provides an overview of research in this field to-date, and addresses advanced topics including fault diagnosis and fault-tolerant control, and the challenging technologies and applications in industrial robotics, robotic manipulators, mobile robots, and autonomous and semi-autonomous vehicles.
Chapters cover the following topics: fault diagnosis and fault-tolerant control of unmanned aerial vehicles; control techniques to deal with the damage of a quadrotor propeller; observer-based LPV control design of quad-TRUAV under rotor-tilt axle stuck fault; an unknown input observer based framework for fault and icing detection and accommodations in overactuated unmanned aerial vehicles; actuator fault tolerance for a WAM-V catamaran with azimuth thrusters; fault-tolerant control of a service robot; distributed fault detection and isolation strategy for a team of cooperative mobile manipulators; nonlinear optimal control for aerial robotic manipulators; fault diagnosis and fault-tolerant control techniques for aircraft Systems; fault-tolerant trajectory tracking control of in-wheel motor vehicles with energy efficient steering and torque distribution; nullspace-based input reconfiguration architecture for over-actuated aerial vehicles; data-driven approaches to fault-tolerant control of industrial robotic systems.
Chapters cover the following topics: fault diagnosis and fault-tolerant control of unmanned aerial vehicles; control techniques to deal with the damage of a quadrotor propeller; observer-based LPV control design of quad-TRUAV under rotor-tilt axle stuck fault; an unknown input observer based framework for fault and icing detection and accommodations in overactuated unmanned aerial vehicles; actuator fault tolerance for a WAM-V catamaran with azimuth thrusters; fault-tolerant control of a service robot; distributed fault detection and isolation strategy for a team of cooperative mobile manipulators; nonlinear optimal control for aerial robotic manipulators; fault diagnosis and fault-tolerant control techniques for aircraft Systems; fault-tolerant trajectory tracking control of in-wheel motor vehicles with energy efficient steering and torque distribution; nullspace-based input reconfiguration architecture for over-actuated aerial vehicles; data-driven approaches to fault-tolerant control of industrial robotic systems.
More details
Series
Language
English
Place of publication
Stevenage
United Kingdom
Target group
College/higher education
Professional and scholarly
Product notice
sewn/stitched
Cloth over boards
Dimensions
Height: 239 mm
Width: 163 mm
Thickness: 20 mm
Weight
680 gr
ISBN-13
978-1-78561-830-7 (9781785618307)
Copyright in bibliographic data and cover images is held by Nielsen Book Services Limited or by the publishers or by their respective licensors: all rights reserved.
Schweitzer Classification
Persons
Andrea Monteriu is an associate professor at Universita Politecnica delle Marche (Ancona, Italy). His main research interests include fault diagnosis, fault-tolerant control, nonlinear, dynamics and control, periodic and stochastic system control, applied in different fields including aerospace, marine and robotic systems. He published more than 130 papers in international journals and conferences and is involved both in national and international research projects. He is the author of the book Fault Detection and Isolation for Multi-Sensor Navigation Systems: Model-Based Methods and Applications; and a co-editor or author of four books on Ambient Assisted Living including the IET book entitled Human Monitoring, Smart Health and Assisted Living: Techniques and Technologies.
Alessandro Freddi is an assistant professor at Universita Politecnica delle Marche (Ancona, Italy), where he teaches 'Preventive Maintenance for Robotics and Smart Automation' and is a founder member of 'Syncode', a startup operating in the field of industrial automation. His main research activities cover fault diagnosis and fault-tolerant control with applications to robotics, and development and application of assistive technologies. He published more than 70 papers in international journals and conferences and is involved both in national and international research projects.
Sauro Longhi is a full professor at Universita Politecnica delle Marche (Ancona, Italy), where he acted as a Rector from 2013 to 2019. Since May 2014 he has been the president of the GARR Consortium, the Italian national computer network for universities and research. Since September 2019 he has also been the president of SIDRA, the Italian Society of Researchers and Professors of Automation. His research interests include modelling, identification and control of linear and nonlinear systems, control of mobile robots, underwater vehicles, vessels and unmanned aerial vehicle, cooperative control of autonomous agents, service robots for assistive applications supporting mobility and cognitive actions, home and building automation, web technology in process control and remote control laboratories, decentralized control over networks, sensors networks, power management in hybrid cars, electric motor control, embedded control system, management and control of renewable energy resources, efficient management of energy systems, automatic fault detection and isolation. He has published more than 400 papers on international journals and conferences.
Alessandro Freddi is an assistant professor at Universita Politecnica delle Marche (Ancona, Italy), where he teaches 'Preventive Maintenance for Robotics and Smart Automation' and is a founder member of 'Syncode', a startup operating in the field of industrial automation. His main research activities cover fault diagnosis and fault-tolerant control with applications to robotics, and development and application of assistive technologies. He published more than 70 papers in international journals and conferences and is involved both in national and international research projects.
Sauro Longhi is a full professor at Universita Politecnica delle Marche (Ancona, Italy), where he acted as a Rector from 2013 to 2019. Since May 2014 he has been the president of the GARR Consortium, the Italian national computer network for universities and research. Since September 2019 he has also been the president of SIDRA, the Italian Society of Researchers and Professors of Automation. His research interests include modelling, identification and control of linear and nonlinear systems, control of mobile robots, underwater vehicles, vessels and unmanned aerial vehicle, cooperative control of autonomous agents, service robots for assistive applications supporting mobility and cognitive actions, home and building automation, web technology in process control and remote control laboratories, decentralized control over networks, sensors networks, power management in hybrid cars, electric motor control, embedded control system, management and control of renewable energy resources, efficient management of energy systems, automatic fault detection and isolation. He has published more than 400 papers on international journals and conferences.
Content
Chapter 1: Fault Diagnosis and Fault-Tolerant Control of Unmanned Aerial Vehicles
Chapter 2: Control Techniques to Deal with the Damage of a Quadrotor Propeller
Chapter 3: Observer-based LPV control design of quad-TRUAV under rotor-tilt axle stuck fault
Chapter 4: An unknown input observer based framework for fault and icing detection and accommodations in overactuated unmanned aerial vehicles
Chapter 5: Actuator fault tolerance for a WAM-V catamaran with azimuth thrusters
Chapter 6: Fault-tolerant Control of a Service Robot
Chapter 7: Distributed Fault Detection and Isolation Strategy for a Team of Cooperative Mobile Manipulators
Chapter 8: Nonlinear optimal control for aerial robotic manipulators
Chapter 9: Fault Diagnosis and Fault-Tolerant Control Techniques for Aircraft Systems
Chapter 10: Fault-tolerant trajectory tracking control of in-wheel motor vehicles with energy efficient steering and torque distribution
Chapter 11: Nullspace-based input reconfiguration architecture for over-actuated aerial vehicles
Chapter 12: Data-driven approaches to fault-tolerant control of industrial robotic systems
Chapter 13: Conclusions
Chapter 2: Control Techniques to Deal with the Damage of a Quadrotor Propeller
Chapter 3: Observer-based LPV control design of quad-TRUAV under rotor-tilt axle stuck fault
Chapter 4: An unknown input observer based framework for fault and icing detection and accommodations in overactuated unmanned aerial vehicles
Chapter 5: Actuator fault tolerance for a WAM-V catamaran with azimuth thrusters
Chapter 6: Fault-tolerant Control of a Service Robot
Chapter 7: Distributed Fault Detection and Isolation Strategy for a Team of Cooperative Mobile Manipulators
Chapter 8: Nonlinear optimal control for aerial robotic manipulators
Chapter 9: Fault Diagnosis and Fault-Tolerant Control Techniques for Aircraft Systems
Chapter 10: Fault-tolerant trajectory tracking control of in-wheel motor vehicles with energy efficient steering and torque distribution
Chapter 11: Nullspace-based input reconfiguration architecture for over-actuated aerial vehicles
Chapter 12: Data-driven approaches to fault-tolerant control of industrial robotic systems
Chapter 13: Conclusions