Fault-Tolerant Control for Physically Linked Two 2WD Mobile Robots with Actuator Faults*. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Ma, Yajie; Cocquempot, Vincent; Najjar, Maan El Badaoui El; Polyakov, Andrey; Zheng, Gang
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 13563
• Page End: 13568
• Publication Date: 2017-07
• Subjects: Actuator fault -- fault-tolerant control -- mobile robot -- physical link -- two wheel drive,; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.2367
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, a fault-tolerant control scheme for two physically linked two wheel drive (2WD) mobile robots with multiple and simultaneous actuator faults is proposed. The kinematic and dynamic models are first presented. A kinematic control law is designed, based on which, a dynamic control law is investigated. By applying the proposed dynamic control signal, the desired system stability and tracking properties are ensured. Simulation results are finally presented to verify the effectiveness of the developed fault-tolerant control scheme.