Fault tolerant control of differential drive mobile robots using sliding mode controller

Parisa Yazdjerdi, N. Meskin
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引用次数: 4

Abstract

An actuator fault tolerant controller for differential drive mobile robots is proposed using the sliding surface scheme for a loss of effectiveness (LOE) actuator fault. It is shown that an LOE actuator fault can be modeled as a matched input disturbance and hence the sliding mode controller due its inherent robustness property can perfectly cancel the actuator fault effect on the performance of the mobile robot without a need to a fault detection and isolation module. Experimental validation is conducted on Qbot-2 mobile robot to verify the efficiency of the proposed controller scheme.
基于滑模控制器的差动移动机器人容错控制
针对执行机构失效故障,提出了一种基于滑动面法的差动驱动移动机器人执行机构容错控制器。结果表明,LOE执行器故障可以建模为匹配输入扰动,因此滑模控制器由于其固有的鲁棒性,可以很好地消除执行器故障对移动机器人性能的影响,而不需要故障检测和隔离模块。在Qbot-2移动机器人上进行了实验验证,验证了所提控制器方案的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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