Research on Fault-Tolerant Controller for Mobile Robot Based on Artificial Immune Principle

Imitating such biological immune system mechanisms as self-learning, memory-storing and immune- response, combined with fault tolerance design approach of redundancy and reconfiguration, an immune fault tolerance controller (IFTC) is designed and implemented in the fault tolerance control system of mobile robot. The IFTC can not only retain the good performance under normal operations but also resume desired performance when there are finite failures in system. Robustness and fault tolerance ability of the IFTC are demonstrated by simulation results, and the feasibility and efficiency of above IFTC in fault tolerance control of mobile robot are confirmed. The IFTC presented in this paper can also be applied to the design of fault tolerance control system for other electro-mechanical products.