<abstract xmlns="http://www.w3.org/1999/xhtml"><p> 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.</p></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.

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

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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...

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

Publié en ligne: 13 janv. 2018

Pages: 763 - 776

Reçu: 25 sept. 2016

Accepté: 04 juil. 2017

DOI: https://doi.org/10.1515/amcs-2017-0053

Mots clés
actuator failure, multiple-model control, physically linked robots, two-wheel drive

© by Vincent Cocquempot

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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

Publié en ligne: 13 janv. 2018

Pages: 763 - 776

Reçu: 25 sept. 2016

Accepté: 04 juil. 2017

DOI: https://doi.org/10.1515/amcs-2017-0053

Mots clésactuator failure, multiple-model control, physically linked robots, two-wheel drive

© by Vincent Cocquempot

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Mots clés
actuator failure, multiple-model control, physically linked robots, two-wheel drive