Robust Adaptive Trajectory Tracking Control of Mobile Robots with Actuator Faults

This paper addresses the trajectory tracking control problem of a class of faulty mobile robot systems with actuator faults. The bias actuator faults are studied without knowing any fault information of actuators. Firstly, an adaptive scheme is proposed to estimate the effects of bias actuator faults. Then a state feedback control strategy based on adaptive estimations is constructed by using backstepping control technology. Through Lyapunov stability theory, it is proved that the azimuthal angle and forward speed of the wheeled mobile robot can track the desired trajectories under the influence of bias actuator faults. The validity of the design is verified by an example of mobile robot system.