Fault detection and isolation for autonomous mobile robot systems

This Project is about the fault detection and isolation with a tolerant control for autonomous mobile robot systems. The omnidirectional robot model is developed to obtain a benchmark that can be implemented as a simulator. The model obtained is non-linear, multivariable and unstable, thus the design of a controller is required. In order to make the system robust in front of faults we add an observer system to estimate the behavior of the plant and detect, if is possible, the system fault. Once detected the error system proceeds to isolate and perform a tolerant control to achieve the goals with virtual sensors and virtual actuator