Yajie Ma, V. Cocquempot, M. El Badaoui El Najjar, B. Jiang
{"title":"基于多模型的并联2WD移动机器人执行器故障补偿","authors":"Yajie Ma, V. Cocquempot, M. El Badaoui El Najjar, B. Jiang","doi":"10.1109/SYSTOL.2016.7739725","DOIUrl":null,"url":null,"abstract":"This paper develops a new compensation control scheme for two linked wheeled mobile robots with actuator failurs. First, a configuration of two linked two-wheel drive (2WD) mobile robots is described, and its kinematics and dynamics are modeled. Then, a multiple-model based control scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers and a control switching mechanism, which can ensure system stability and asymptotic tracking properties. Simulation results verify the effectiveness of the proposed control scheme.","PeriodicalId":223249,"journal":{"name":"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Multiple-model based actuator fault compensation for two linked 2WD mobile robots\",\"authors\":\"Yajie Ma, V. Cocquempot, M. El Badaoui El Najjar, B. Jiang\",\"doi\":\"10.1109/SYSTOL.2016.7739725\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper develops a new compensation control scheme for two linked wheeled mobile robots with actuator failurs. First, a configuration of two linked two-wheel drive (2WD) mobile robots is described, and its kinematics and dynamics are modeled. Then, a multiple-model based control scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers and a control switching mechanism, which can ensure system stability and asymptotic tracking properties. Simulation results verify the effectiveness of the proposed control scheme.\",\"PeriodicalId\":223249,\"journal\":{\"name\":\"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)\",\"volume\":\"28 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SYSTOL.2016.7739725\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SYSTOL.2016.7739725","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Multiple-model based actuator fault compensation for two linked 2WD mobile robots
This paper develops a new compensation control scheme for two linked wheeled mobile robots with actuator failurs. First, a configuration of two linked two-wheel drive (2WD) mobile robots is described, and its kinematics and dynamics are modeled. Then, a multiple-model based control scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers and a control switching mechanism, which can ensure system stability and asymptotic tracking properties. Simulation results verify the effectiveness of the proposed control scheme.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
