Abstract
When mobile robots are intended to be used
in hazardous environments or for long-time operations, it
is needed to increase their robustness against faults. This
could be achieved by means of the inclusion of Fault Tolerant
Control (FTC) mechanisms. In this paper, a FTC based on
fault hiding approach is proposed for a non-holonomic mobile
robot. First, a Sliding Mode Controller (SMC) is designed to
control the robost and to cope with modelling uncertainty.
Later on, it is enhanced to take into account actuator faults
leading to a fault hiding approach for the sliding mode faulttolerant
control of the robot. Results using simulated fault
scenarios are presented to illustrate the performance of the
proposed approach.
in hazardous environments or for long-time operations, it
is needed to increase their robustness against faults. This
could be achieved by means of the inclusion of Fault Tolerant
Control (FTC) mechanisms. In this paper, a FTC based on
fault hiding approach is proposed for a non-holonomic mobile
robot. First, a Sliding Mode Controller (SMC) is designed to
control the robost and to cope with modelling uncertainty.
Later on, it is enhanced to take into account actuator faults
leading to a fault hiding approach for the sliding mode faulttolerant
control of the robot. Results using simulated fault
scenarios are presented to illustrate the performance of the
proposed approach.
Original language | English |
---|---|
Title of host publication | 2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol) |
Pages | 7-14 |
Number of pages | 8 |
DOIs | |
Publication status | Published - 10 Dec 2016 |
Publication series
Name | 2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol) |
---|---|
Publisher | IEEE |
ISSN (Electronic) | 2162-1209 |
Keywords
- Fault tolerant control, Mobile robots, Sliding mode