Expected by: 15 June 2020

Fault Diagnosis and Fault-tolerant Control of Robotic and Autonomous Systems

Edited by Andrea Monteriù, Sauro Longhi, Alessandro Freddi

Robotic systems have experienced exponential growth thanks to their incredible adaptability. Modern robots require an increasing level of autonomy and the capability to interact with humans. 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.

About the Editors

Andrea Monteriù is Associate Professor at the Università Politecnica delle Marche, Italy. His main research interests include fault diagnosis, fault tolerant control, nonlinear dynamics and control, periodic and stochastic system control, applied in various fields including aerospace, marine and robotic systems. He has published more than 130 papers in international journals and conferences and has authored of several books.

Sauro Longhi is a full professor of Automation Engineering at the Università Politecnica delle Marche, Italy. He is also the president of the GARR Consortium and SIDRA. His research interests include modelling, identification and control of linear and nonlinear systems, control of mobile robots, underwater vehicles, unmanned aerial vehicles, sensor networks, embedded control systems, and automatic fault detection and isolation. He has published more than 400 papers on international journal and conferences.

Alessandro Freddi is Assistant Professor at Università Politecnica delle Marche, Italy, where he teaches Preventive Maintenance for Robotics and Smart Automation and is a founding member of 'Syncode', a start-up in the field of industrial automation. His research activities cover fault diagnosis and fault-tolerant control with applications to robotics, and the development and applications of assistive technologies. He has published more than 70 papers in international journals and conferences.

Publication Year: 2020

Pages: 350

ISBN-13: 978-1-78561-830-7

Format: HBK

Editors: Andrea Monteriù, Sauro Longhi, Alessandro Freddi

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