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

doi:10.1515/amcs-2017-0053

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

International Journal of Applied Mathematics and Computer Science

Volume 27 (2017): Issue 4 (December 2017)

By: Yajie Ma, Vincent Cocquempot, Maan El Badaoui El Najjar and Bin Jiang

Open Access

|Jan 2018

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.

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Articles in this issue

DOI: https://doi.org/10.1515/amcs-2017-0053 | Journal eISSN: 2083-8492 | Journal ISSN: 1641-876X

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Language: English

Page range: 763 - 776

Submitted on: Sep 25, 2016

Accepted on: Jul 4, 2017

Published on: Jan 13, 2018

Published by: University of Zielona Góra

In partnership with: Paradigm Publishing Services

Publication frequency: 4 issues per year

Keywords:

actuator failure,

multiple-model control,

physically linked robots,

two-wheel drive

Related subjects:

Mathematics,

Applied mathematics

© 2018 Yajie Ma, Vincent Cocquempot, Maan El Badaoui El Najjar, Bin Jiang, published by University of Zielona Góra
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Volume 27 (2017): Issue 4 (December 2017)