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

International Journal of Applied Mathematics and Computer Science

Jiang Bin¹  Ma Yajie¹  El Badaoui El Najjar Maan²  Cocquempot Vincent³ 

[1] College of Automation Engineering Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;UMR 9189-CRIStAL: Research Center in Computer Science, Signal and Automatic Control of Lille University of Lille, CNRS, Centrale Lille, Lille F-59000, France;UMR 9189—CRIStAL: Research Center in Computer Science, Signal and Automatic Control of Lille University of Lille, CNRS, Centrale Lille, Lille F-59000, France;

关键词: actuator failure;    multiple-model control;    physically linked robots;    two-wheel drive;   

DOI  :  10.1515/amcs-2017-0053

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown