Contact Information

RASL, Olin Hall, # 518

Vanderbilt University

Fault-Adaptive Control Framework of Nonlinear Uncertain Systems

The scope of this project is to develop a new control framework for a team of robots such that the team can function satisfactorily in the presence of system faults. There are three main components in fault-adaptive control framework: a bank of controllers, a fault detection and isolation (FDI) scheme, and a fault-accommodation mechanism.
We have developed a new approach, called robust nonlinear analytic redundancy (RNLAR) technique, to sensor and actuator fault detection for input-affine nonlinear multivariable dynamic systems in the presence of process uncertainties, including model-plant-mismatch and process disturbance. Currently we are working on designing a fault-accommodation mechanism.

• Halder. B, Sarkar. N, “A Robust Nonlinear Analytic Redundancy Framework for Both Sensor and Actuator Fault Detection and Its Application to Robotics",  IEEE Transactions on Robotics (under review).

       Conferences

• Halder. B and Sarkar. N, “Robust fault detection and isolation in mobile robot", Proceedings of IFAC, Beijing, China, August 30- September 01, 2006 (submitted).

• Halder. B and Sarkar. N, “Impact of the Order of Redundancy Relation in Robust Fault Detection of Robotic Systems”, Proceedings of ACC’, Minneapolis, Minnesota, June 14-16, 2006 (submitted).

• Halder. B and Sarkar. N, “Robust fault detection of robotic systems: New results and experiments", Proceedings of ICRA, Orlando, Florida, May 15-19, 2006.

• Halder. B and Sarkar. N, “Robust Fault Detection Based on Nonlinear Analytic Redundancy Techniques With Application to Robotics”, Proceedings of IMECE, Orlando, Florida, November 5-11, 2005

• Halder. B, Zhang. Z. and Sarkar. N, “Fault Adaptive Formation Control of Mobile Robots”, Proceedings of IMECE, Anaheim, California, November 13-19, 2004.

• Lew. J. Y and Halder. B, “Experimental Study of Anti-Swing Crane Control for a Varying Load”, Proceedings of ACC, Denver, Colorado June 4-6, 2003.

Resume (Pdf Format)

Robotics and Autonomous Systems Laboratory

Dr. Nilanjan Sarkar