MPC Based Navigation of an Omni-directional Mobile Robot under Single Actuator Failure

Q3 Engineering

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2022-01-01 DOI:10.18178/ijmerr.11.6.399-404

Dinsha Vinod, P. S. Saikrishna

引用次数: 0

Abstract

— This paper presents the modeling and Model Predictive Controller (MPC) design for an omni-directional robot during a single actuator failure. A fault estimation method is used to identify the actuator failure, and thereby, the kinematic model of the mobile robot is reformulated to account for the fault. The controllability of the modified model during a single actuator failure is verified using Lie algebra. Finally, in the event of unforeseen combinations of single actuator failures, a Nonlinear MPC is designed for trajectory tracking and obstacle avoidance. Simulation results are used to demonstrate the robustness of the system to actuator failure.

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单作动器故障下基于MPC的全向移动机器人导航

本文提出了全向机器人在单个执行器故障情况下的建模和模型预测控制器(MPC)设计。采用故障估计方法来识别执行器故障，从而对移动机器人的运动学模型进行重构以考虑故障。利用李代数验证了修正模型在单个执行器故障情况下的可控性。最后，在单个执行器故障不可预见的组合情况下，设计了用于轨迹跟踪和避障的非线性MPC。仿真结果验证了该系统对执行器故障的鲁棒性。

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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来源期刊

International Journal of Mechanical Engineering and Robotics Research Engineering-Mechanical Engineering

CiteScore

2.80

自引率

0.00%

发文量

期刊介绍： International Journal of Mechanical Engineering and Robotics Research. IJMERR is a scholarly peer-reviewed international scientific journal published bimonthly, focusing on theories, systems, methods, algorithms and applications in mechanical engineering and robotics. It provides a high profile, leading edge forum for academic researchers, industrial professionals, engineers, consultants, managers, educators and policy makers working in the field to contribute and disseminate innovative new work on Mechanical Engineering and Robotics Research.