Fault detection and isolation in a mobile robot test-bed
In this work we present a new health monitoring method for hybrid systems. The method utilizes the concept of unified constraint relations, named the global analytical redundancy relations (GARRs). Using GARRs for health monitoring of hybrid system requires the system's current mode and this information is provided by a mode tracker. To make the mode tracking more efficient, a unique mode-change isolation process is utilized, this process is based on the mode change signature matrix (MCSM).