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

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

International Journal of Applied Mathematics and Computer Science

2017

Vol. 27, no. 4

763--776

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.