@misc{Ma_Yajie_Actuator,
 author={Ma, Yajie and Cocquempot, Vincent and El Badaoui El Najjar, Maan and Jiang, Bin},
 howpublished={online},
 publisher={Zielona Góra: Uniwersytet Zielonogórski},
 language={eng},
 abstract={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.},
 type={artykuł},
 title={Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control},
 keywords={actuator failure, multiple-model control, physically linked robots, two-wheel drive},
}