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In this paper, aiming at the actuator fault-tolerant trajectory tracking problem of two-wheeled differential-driven mobile robots, a super-twisting fractional-order sliding mode fault-tolerant control method combined with a fault observer is proposed. The method not only ensures the pose tracking of the robot in normal condition but also guarantees the tracking performance while the fault occurs. The proposed method mainly includes: A fractional-order sliding mode surface which improves the transient response is utilized to design the fault-tolerant controller, and the super twisting reaching algorithm is adopted to reduce the chattering; A fault observer is designed to estimate the fault value, ensures system stability and safety through real-time compensation. Finally, the proposed fault-tolerant control method is verified by numerical simulation. The results show that the method proposed in this paper can effectively reduce the impact of actuator fault and ensure trajectory tracking performance. And the advantage of the control strategy over the general sliding mode controller is that compared with the integer-order sliding mode control (IOSMC), the fractional-order sliding mode control (FOSMC) we designed in this paper converges all the error states to zero faster, and the tracking error chattering is smaller.

Fractional-order SMC controller for mobile robot trajectory tracking under actuator fault