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Article Dans Une Revue International Journal of Applied Mathematics and Computer Science Année : 2018

Actuator Failure Compensation for Two Linked 2WD Mobile Robots Based on Multiple-Model Control

Résumé

This 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.

Dates et versions

hal-01667977 , version 1 (19-12-2017)

Identifiants

Citer

Yajie Ma, Vincent Cocquempot, Maan El Badaoui El Najjar, Bin Jiang. Actuator Failure Compensation for Two Linked 2WD Mobile Robots Based on Multiple-Model Control. International Journal of Applied Mathematics and Computer Science, 2018, 27 (4), pp.763-776. ⟨10.1515/amcs-2017-0053⟩. ⟨hal-01667977⟩
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