Yajie Ma, V. Cocquempot, M. El Badaoui El Najjar, B. Jiang
{"title":"Multiple-model based actuator fault compensation for two linked 2WD mobile robots","authors":"Yajie Ma, V. Cocquempot, M. El Badaoui El Najjar, B. Jiang","doi":"10.1109/SYSTOL.2016.7739725","DOIUrl":null,"url":null,"abstract":"This paper develops a new compensation control scheme for two linked wheeled mobile robots with actuator failurs. First, a configuration of two linked two-wheel drive (2WD) mobile robots is described, and its kinematics and dynamics are modeled. Then, a multiple-model based control scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers and a control switching mechanism, which can ensure system stability and asymptotic tracking properties. Simulation results verify the effectiveness of the proposed control scheme.","PeriodicalId":223249,"journal":{"name":"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SYSTOL.2016.7739725","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
This paper develops a new compensation control scheme for two linked wheeled mobile robots with actuator failurs. First, a configuration of two linked two-wheel drive (2WD) mobile robots is described, and its kinematics and dynamics are modeled. Then, a multiple-model based control scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers and a control switching mechanism, which can ensure system stability and asymptotic tracking properties. Simulation results verify the effectiveness of the proposed control scheme.
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