An Observer-Based Distributed Nonlinear Model Predictive Fault-Tolerant Control for Leader-Following Formation Tracking Control

Abstract

This paper presents an application of distributed nonlinear model predictive fault-tolerant controller (NMPFC) for leader- following formation tracking control in both free-fault and faulty case. The fault detection and diagnosis module integrated in each robot is based on an Extended Kalman filter (EKF) to estimate multiple faults occurring in that robot. The proposed solution is validated through simulation under Matlab-Simulink for mobile-robot systems.