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Paper details
Number 4 - December 2017
Volume 27 - 2017
Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control
Yajie Ma, Vincent Cocquempot, Maan El Badaoui El Najjar, Bin Jiang
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.
Keywords
actuator failure, multiple-model control, physically linked robots, two-wheel drive