{"id":"https://openalex.org/W3007385750","doi":"https://doi.org/10.23919/ecc51009.2020.9143984","title":"4-mecanum wheeled mobile robot actuator fault detection & isolation using unknown input observer-based approach","display_name":"4-mecanum wheeled mobile robot actuator fault detection & isolation using unknown input observer-based approach","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3007385750","doi":"https://doi.org/10.23919/ecc51009.2020.9143984","mag":"3007385750"},"language":"en","primary_location":{"id":"doi:10.23919/ecc51009.2020.9143984","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc51009.2020.9143984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.archives-ouvertes.fr/hal-02454947","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013872326","display_name":"Samia Mellah","orcid":"https://orcid.org/0000-0001-7772-5999"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]},{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Samia MELLAH","raw_affiliation_strings":["CNRS, LIS (UMR 7020), Aix Marseille Univ, Universit\u00e9 de Toulon, Marseille, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LIS (UMR 7020), Aix Marseille Univ, Universit\u00e9 de Toulon, Marseille, France","institution_ids":["https://openalex.org/I143002897","https://openalex.org/I4210114274","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060836017","display_name":"Guillaume Graton","orcid":"https://orcid.org/0000-0002-7864-9040"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]},{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Guillaume GRATON","raw_affiliation_strings":["CNRS, LIS (UMR 7020), Aix Marseille Univ, Universit\u00e9 de Toulon, Marseille, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LIS (UMR 7020), Aix Marseille Univ, Universit\u00e9 de Toulon, Marseille, France","institution_ids":["https://openalex.org/I143002897","https://openalex.org/I4210114274","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103405499","display_name":"El Mostafa El Adel","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]},{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"El Mostafa EL ADEL","raw_affiliation_strings":["CNRS, LIS (UMR 7020), Aix Marseille Univ, Universit\u00e9 de Toulon, Marseille, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LIS (UMR 7020), Aix Marseille Univ, Universit\u00e9 de Toulon, Marseille, France","institution_ids":["https://openalex.org/I143002897","https://openalex.org/I4210114274","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110160381","display_name":"Mustapha Ouladsine","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I143002897","display_name":"Universit\u00e9 de Toulon","ror":"https://ror.org/02m9kbe37","country_code":"FR","type":"education","lineage":["https://openalex.org/I143002897"]},{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mustapha OULADSINE","raw_affiliation_strings":["CNRS, LIS (UMR 7020), Aix Marseille Univ, Universit\u00e9 de Toulon, Marseille, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LIS (UMR 7020), Aix Marseille Univ, Universit\u00e9 de Toulon, Marseille, France","institution_ids":["https://openalex.org/I143002897","https://openalex.org/I4210114274","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021442094","display_name":"Alain Planchais","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104693","display_name":"STMicroelectronics (France)","ror":"https://ror.org/01c74sd89","country_code":"FR","type":"company","lineage":["https://openalex.org/I131827901","https://openalex.org/I4210104693"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alain PLANCHAIS","raw_affiliation_strings":["ST Microelectronics Rousset, Rousset, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ST Microelectronics Rousset, Rousset, France","institution_ids":["https://openalex.org/I4210104693"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4371,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.59914517,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1442","last_page":"1447"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9861000180244446,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9835000038146973,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8023401498794556},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.7361670732498169},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7307789325714111},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6082009673118591},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5635688900947571},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5253303050994873},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47895437479019165},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.47431039810180664},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.4650026559829712},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44679003953933716},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.43696457147598267},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40476706624031067},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23727566003799438},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1871950924396515}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8023401498794556},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.7361670732498169},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7307789325714111},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6082009673118591},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5635688900947571},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5253303050994873},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47895437479019165},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.47431039810180664},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.4650026559829712},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44679003953933716},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.43696457147598267},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40476706624031067},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23727566003799438},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1871950924396515},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc51009.2020.9143984","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc51009.2020.9143984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02454947v1","is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-02454947","pdf_url":null,"source":{"id":"https://openalex.org/S4406922393","display_name":"HAL AMU","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"European Control Conference ECC","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02454947v1","is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-02454947","pdf_url":null,"source":{"id":"https://openalex.org/S4406922393","display_name":"HAL AMU","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"European Control Conference ECC","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W2080330449","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2169474978","https://openalex.org/W785766289","https://openalex.org/W2011222276","https://openalex.org/W3121254296","https://openalex.org/W2060193301"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3,92],"approach":[4,21],"for":[5,32],"actuator":[6,82],"fault":[7],"detection":[8],"&":[9],"isolation":[10],"(FDI)":[11],"in":[12],"a":[13,25,71],"four":[14],"mecanum":[15],"wheeled":[16],"mobile":[17],"robots":[18],"(4-MWMRs).":[19],"The":[20,38,75],"is":[22,40,77],"based":[23],"on":[24],"bank":[26],"of":[27],"unknown":[28],"input":[29],"observers":[30],"(UIO)":[31],"linear":[33],"parameter":[34],"varying":[35],"(LPV)":[36],"systems.":[37],"FDI":[39,73],"challenging":[41],"by":[42],"considering":[43,56],"faults":[44,62,83],"with":[45,50],"small":[46],"amplitude":[47],"and":[48,55,65,80,89],"measurements":[49],"noise.":[51],"Added":[52],"to":[53,78,91],"that,":[54],"the":[57,61,85],"robot":[58,86],"closed-loop":[59,87],"control,":[60],"are":[63],"compensated":[64],"they":[66],"cannot":[67],"be":[68],"detected":[69],"without":[70],"robust":[72],"algorithm.":[74],"objective":[76],"detect":[79],"isolate":[81],"before":[84],"deteriorates":[88],"leads":[90],"unacceptable":[93],"extent.":[94]},"counts_by_year":[{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}