Creator:

Ma, Yajie ; Cocquempot, Vincent ; El Badaoui El Najjar, Maan ; Jiang, Bin

Contributor:

Stefanowski, Jerzy - ed. ; Krawiec, Krzysztof - ed. ; Wrembel, Robert - ed.

Title:

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

Subtitle:

.

Group publication title:

AMCS, Volume 27 (2017)

Subject and Keywords:

actuator failure ; multiple-model control ; physically linked robots ; two-wheel drive

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.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2017

Resource Type:

artykuł

DOI:

10.1515/amcs-2017-0053

Pages:

763-776

Source:

AMCS, volume 27, number 4 (2017) ; click here to follow the link

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego