Adaptive Fault-Tolerant Control Design for Multi-linked Two-Wheel Drive Mobile Robots
Résumé
This chapter presents the algorithmic design of an adaptive Fault Tolerant Control (FTC) to address several tasks needed for -linked mobile robots subjected to actuator faults and friction phenomena. Firstly, it presents the development of kinematic and dynamic models for n-linked wheel drive mobile robot systems. Then, the kinematic model is transformed into a chained form and an approach to generate desired feasible trajectories is proposed. After that, a Lyapunov kinematic control law to control each state of the system and stabilize the tracking error is presented. In practice, the multi-robot system is affected by some disturbances, as for instance friction phenomena. Moreover, actuator faults may occur during the system life. Therefore, an adaptive law was designed to estimate the unknown friction coefficients and faults to adapt the control law online, leading to a multi-design integration-based adaptive controller. The asymptotical stability of the closed-loop is proven applying the Lyapunov theory. Simulations are performed in MATLAB/SIMULINK with different faulty cases, showing the efficiency of this method.