Dual heuristic programming with just‐in‐time modeling for self‐learning fault‐tolerant control of mobile robots

2021 ◽  
Author(s):  
Changxin Zhang ◽  
Xin Xu ◽  
Xinglong Zhang
Keyword(s):  
Mobile Robots ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Just In Time ◽  
Time Modeling ◽  
Self Learning ◽  
Heuristic Programming

Model Predictive Fault Tolerant Control for Omni-directional Mobile Robots

2019 ◽  
Vol 97 (3-4) ◽  
pp. 635-655 ◽  
Author(s):  
George C. Karras ◽  
George K. Fourlas
Keyword(s):  
Mobile Robots ◽  
Fault Tolerant ◽  
Fault Tolerant Control

scholarly journals Actuator fault estimation and fault tolerant control in three physically-linked 2WD mobile robots

2018 ◽  
Vol 51 (24) ◽  
pp. 709-716 ◽  
Author(s):  
Daniel A. Pereira ◽  
Ayad Al-Dujaili ◽  
Maan El Badaoui El Najjar ◽  
Vincent Cocquempot ◽  
Yajie Ma
Keyword(s):  
Mobile Robots ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Fault Estimation ◽  
Actuator Fault

Design and real-time implementation of actuator fault-tolerant control for differential-drive mobile robots based on multiple-model approach

2018 ◽  
Vol 232 (6) ◽  
pp. 652-661 ◽  
Author(s):  
Parisa Yazdjerdi ◽  
Nader Meskin
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Fault Tolerant ◽  
Kinematic Model ◽  
Fault Tolerant Control ◽  
Actuator Fault ◽  
Multiple Model ◽  
Control Approach ◽  
Differential Drive ◽  
Model Approach

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.

Adaptive fault-tolerant control of mobile robots with actuator faults and unknown parameters

2019 ◽  
Vol 13 (11) ◽  
pp. 1665-1672 ◽  
Author(s):  
Xiao-Zheng Jin ◽  
Ye-Xing Zhao ◽  
Hai Wang ◽  
Zhen Zhao ◽  
Xue-Ping Dong
Keyword(s):  
Mobile Robots ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Actuator Faults ◽  
Unknown Parameters

scholarly journals Erratum to: Distributed active fault tolerant control design against actuator faults for multiple mobile robots

2019 ◽  
Vol 18 (1) ◽  
pp. 110-110
Author(s):  
Mahmoud Hussein ◽  
Jawhar Ghommam ◽  
Azeddine Ghodbane ◽  
Maarouf Saad ◽  
Vahé Nerguizian
Keyword(s):  
Mobile Robots ◽  
Active Fault ◽  
Fault Tolerant ◽  
Control Design ◽  
Fault Tolerant Control ◽  
Actuator Faults ◽  
Multiple Mobile Robots ◽  
Active Fault Tolerant Control
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