scholarly journals An adaptive actuator failure compensation scheme for two linked 2WD mobile robots

2017 ◽  
Vol 783 ◽  
pp. 012021 ◽  
Author(s):  
Yajie Ma ◽  
Ayad Al-Dujaili ◽  
Vincent Cocquempot ◽  
Maan El Badaoui El Najjar
Keyword(s):  
Mobile Robots ◽  
Compensation Scheme ◽  
Actuator Failure ◽  
Actuator Failure Compensation

scholarly journals Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control

2017 ◽  
Vol 27 (4) ◽  
pp. 763-776
Author(s):  
Yajie Ma ◽  
Vincent Cocquempot ◽  
Maan El Badaoui El Najjar ◽  
Bin Jiang
Keyword(s):  
Mobile Robots ◽  
System Stability ◽  
Multiple Model ◽  
Compensation Scheme ◽  
Actuator Failure ◽  
Actuator Failures ◽  
Wheel Drive ◽  
Model Control ◽  
Asymptotic Tracking ◽  
Actuator Failure Compensation

AbstractThis paper develops a new actuator failure compensation scheme for two linked two-wheel drive (2WD) mobile robots based on multiple-model control. First, a configuration of two linked 2WD robots is described, and their kinematics and dynamics are modeled. Then, a multiple-model based failure compensation scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers and a control switching mechanism, which ensures system stability and asymptotic tracking properties. Finally, simulation results verify the effectiveness of the proposed failure compensation control system.

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