A Fault Hiding Approach for the Sliding Mode Fault-tolerant Control of a Non-holonomic Mobile Robot

Alexandru Stancu, Eduard Codres, Vicenç Puig

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    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.
    Original languageEnglish
    Title of host publication2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)
    Pages7-14
    Number of pages8
    DOIs
    Publication statusPublished - 10 Dec 2016

    Publication series

    Name2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)
    PublisherIEEE
    ISSN (Electronic)2162-1209

    Keywords

    • Fault tolerant control, Mobile robots, Sliding mode

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