Design and real-time implementation of actuator fault-tolerant control for differential-drive mobile robots based on multiple-model approach

Design and real-time implementation of actuator fault-tolerant control for differential-drive... In this article, an actuator fault-tolerant control scheme is proposed for differential-drive mobile robots based on the concept of multiple-model approach. The nonlinear kinematic model of the differential-drive mobile robot is discretized and a bank of extended Kalman filters is designed to detect, isolate, and identify actuator faults. A fault-tolerant controller is then developed based on the detected fault to accommodate its effect on the trajectory-tracking performance of the mobile robot. Extensive experimental results are presented to demonstrate the efficacy of the proposed fault-tolerant control approach. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering SAGE

Design and real-time implementation of actuator fault-tolerant control for differential-drive mobile robots based on multiple-model approach

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Publisher
SAGE Publications
Copyright
© IMechE 2018
ISSN
0959-6518
eISSN
2041-3041
D.O.I.
10.1177/0959651818779849
Publisher site
See Article on Publisher Site

Abstract

In this article, an actuator fault-tolerant control scheme is proposed for differential-drive mobile robots based on the concept of multiple-model approach. The nonlinear kinematic model of the differential-drive mobile robot is discretized and a bank of extended Kalman filters is designed to detect, isolate, and identify actuator faults. A fault-tolerant controller is then developed based on the detected fault to accommodate its effect on the trajectory-tracking performance of the mobile robot. Extensive experimental results are presented to demonstrate the efficacy of the proposed fault-tolerant control approach.

Journal

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control EngineeringSAGE

Published: Jul 1, 2018

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