文章基本信息

标题：Actuator fault estimation and fault tolerant control in three physically-linked 2WD mobile robots
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作者：Daniel A. Pereira ; Ayad Al-Dujaili ; Maan El Badaoui El Najjar 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：24
页码：709-716
DOI：10.1016/j.ifacol.2018.09.653
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a method for actuator fault estimation and fault tolerant control applied to a problem of trajectory tracking in a nonlinear system composed of three physically-linked two-wheel-drive (2WD) mobile robots. To track the reference trajectory, a kinematic controller is designed based on velocity requirements and a dynamic controller is designed to guarantee stability. A nonlinear adaptive observer is used for state and fault estimation. The fault tolerance is obtained by updating the dynamic control law with the fault estimates. Simulation results of the three physically-linked 2WD mobile robots illustrate the performance of the proposed method.
关键词：KeywordsFault tolerant controlMobile robotFixed linkFailure compensationFault diagnosisFault estimationNonlinear observer