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

• Autorzy: Ma Y. , Cocquempot V. , El Badaoui El Najjar M. , Jiang B.

Identyfikatory

DOI

10.1515/amcs-2017-0053

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

actuator failure; multiple model control; physically linked robot; two wheel drive

PL

awaria siłownika; sterowanie wielomodelowe; robot połączony

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2017
• Tom: Vol. 27, no. 4
• Strony: 763--776
• Opis fizyczny: Bibliogr. 49 poz., rys., wykr.

Twórcy

autor

Ma Y.

• College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

autor

Cocquempot V.

• UMR 9189—CRIStAL: Research Center in Computer Science, Signal and Automatic Control of Lille, University of Lille, CNRS, Centrale Lille, Lille F-59000, France

autor

El Badaoui El Najjar M.

• UMR 9189—CRIStAL: Research Center in Computer Science, Signal and Automatic Control of Lille, University of Lille, CNRS, Centrale Lille, Lille F-59000, France

autor

Jiang B.

• College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).