Fault tolerant control of differential drive mobile robots using sliding mode controller
Author | Yazdjerdi, Parisa |
Author | Meskin, Nader |
Available date | 2021-01-27T11:06:54Z |
Publication Date | 2017 |
Publication Name | 2017 5th International Conference on Control, Instrumentation, and Automation, ICCIA 2017 |
Resource | Scopus |
Abstract | An actuator fault tolerant controller for differential drive mobile robots is proposed using the sliding surface scheme for a loss of effectiveness (LOE) actuator fault. It is shown that an LOE actuator fault can be modeled as a matched input disturbance and hence the sliding mode controller due its inherent robustness property can perfectly cancel the actuator fault effect on the performance of the mobile robot without a need to a fault detection and isolation module. Experimental validation is conducted on Qbot-2 mobile robot to verify the efficiency of the proposed controller scheme. |
Language | en |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Subject | Differential drive mobile robot Fault tolerant control Multiplicative actuator fault Sliding mode controller |
Type | Conference Paper |
Pagination | 270-274 |
Volume Number | 2018-January |
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Electrical Engineering [2647 items ]