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JRM Vol.20 No.6 pp. 903-911
doi: 10.20965/jrm.2008.p0903
(2008)

Paper:

Fault Diagnosis and Fault-Tolerant Control of a Joystick-Controlled Wheelchair

Masafumi Hashimoto*, Yuuki Nakamura**,
and Kazuhiko Takahashi*

*Faculty of Science and Engineering, Doshisha University, 1-3 Miyakodani, Tatara, Kyotanabe, Kyoto 610-0321, Japan

**Chugai Technos Corporation, 2-14-2 Nakahiro-machi, Nishi-ku, Hiroshima 733-0012, Japan

Received:
August 9, 2007
Accepted:
March 19, 2008
Published:
December 20, 2008
Keywords:
mobile robot, wheelchair, fault diagnosis, fault-tolerant control, multiple-model estimator
Abstract

This paper presents a method of fault diagnosis and fault-tolerant control for a nonholonomic powered wheelchair. Hard faults of sensors and actuators in two drive/steering units of the wheelchair are handled. The fault diagnosis is based on the interacting multiple-model (IMM) estimator. In order to improve fault decisions, we implement mode probability averaging and heuristic decision-making rule in the IMM-based algorithm. A fault-tolerant controller designed based on Ackerman geometry enables safe motion of the wheelchair even if sensors and actuators have partially failed. Experimental results verify the proposed method.

Cite this article as:
Masafumi Hashimoto, Yuuki Nakamura, and
and Kazuhiko Takahashi, “Fault Diagnosis and Fault-Tolerant Control of a Joystick-Controlled Wheelchair,” J. Robot. Mechatron., Vol.20, No.6, pp. 903-911, 2008.
Data files:
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