A Novel Mittag-Leffler Kernel Based Hybrid Fault Diagnosis Method for Wheeled Robot Driving System

Table 1

Fault position and its common fault modes.

Fault categories	Fault position	Fault mode	Tag
Normal condition	None	None
Mechanical faults	Left wheel	Low pressure
	Right wheel	Low pressure
	Left coupling	Loosening
	Right coupling	Loosening
Sensor faults	Left encoder	Pulse loss
	Right encoder	Pulse loss
	Gyroscope	Constant drift