Design and real-time implementation of actuator fault-tolerant control for differential-drive mobile robots based on multiple-model approach
| Author | Yazdjerdi P. |
| Author | Meskin N. |
| Available date | 2020-03-18T08:10:12Z |
| Publication Date | 2018 |
| Publication Name | Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering |
| Resource | Scopus |
| ISSN | 9596518 |
| 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. ? IMechE 2018. |
| Sponsor | The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This publication was made possible by NPRP Grants (No. NPRP 5-045-2?017) from the Qatar National Research Fund (a member of Qatar Foundation). |
| Language | en |
| Publisher | SAGE Publications Ltd |
| Subject | differential-drive mobile robot extended Kalman filter fault-tolerant control Multiple-model-based approach |
| Type | Article |
| Pagination | 652 - 661 |
| Issue Number | 6 |
| Volume Number | 232 |
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Electrical Engineering [2649 items ]