Open AccessAdaptive fault‐tolerant control of mobile robots with actuator faults and unknown parameters
Author(s) -
Jin XiaoZheng,
Zhao YeXing,
Wang Hai,
Zhao Zhen,
Dong XuePing
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.5492
Subject(s) - control theory (sociology) , backstepping , actuator , mobile robot , trajectory , control engineering , robot , lyapunov function , fault (geology) , lyapunov stability , computer science , adaptive control , fault tolerance , engineering , control (management) , artificial intelligence , nonlinear system , distributed computing , seismology , geology , physics , astronomy , quantum mechanics
This study deals with the fault‐tolerant control problem for a class of two independent wheeled mobile robot systems with actuator faults and unknown robot parameters. Partial loss of control effectiveness and bias‐actuator faults are addressed without knowing eventually faulty information of actuators. Adaptive schemes are developed to estimate unknown faulty parameters of actuator faults and unknown robot parameters of viscous friction factor and driving gain. Then, the backstepping control technique is utilised to construct the state feed‐back control strategy based on the adaptive estimations. By using the Lyapunov stability theory, it is shown that the forward speed and azimuthal angle of wheeled mobile robots can track the given trajectory asymptotically in the case of actuator faults and unknown parameters. The effectiveness of the proposed designs is illustrated via a mobile robot system.