Modeling and Adaptive Fault Compensation ...
Document type :
Compte-rendu et recension critique d'ouvrage
Title :
Modeling and Adaptive Fault Compensation for Two Physically Linked 2WD Mobile Robots
Author(s) :
Ma, Yajie [Auteur]
Jiang, Bin [Auteur]
Cocquempot, Vincent [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Jiang, Bin [Auteur]
Cocquempot, Vincent [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Journal title :
IEEE/ASME Transactions on Mechatronics
Pages :
1161-1171
Publisher :
Institute of Electrical and Electronics Engineers
Publication date :
2021-01-01
ISSN :
1083-4435
English keyword(s) :
Mobile robots
2WD
Fault tolerant systems
Adaptive control
Kinematics
Robot sensing systems
Adaptation models
2WD
Fault tolerant systems
Adaptive control
Kinematics
Robot sensing systems
Adaptation models
HAL domain(s) :
Sciences de l'ingénieur [physics]/Automatique / Robotique
English abstract : [en]
This article addresses the fault-tolerant control problem of two-wheel-drive (2WD) mobile robots under actuator faults. To improve the actuation redundancy, a physical link is employed to connect two 2WD mobile robots. The ...
Show more >This article addresses the fault-tolerant control problem of two-wheel-drive (2WD) mobile robots under actuator faults. To improve the actuation redundancy, a physical link is employed to connect two 2WD mobile robots. The kinematics and dynamics of such a two-robot system are modeled. An adaptive fault-tolerant control scheme is developed to make the two-robot system asymptotic track a desired reference. To deal with the uncertainty of the control gain matrix caused by actuator faults, a new positive definite control gain matrix is constructed, and its minimum eigenvalue is utilized for the adaptive compensation design. Simulation results verify the effectiveness of the proposed fault-tolerant control scheme.Show less >
Show more >This article addresses the fault-tolerant control problem of two-wheel-drive (2WD) mobile robots under actuator faults. To improve the actuation redundancy, a physical link is employed to connect two 2WD mobile robots. The kinematics and dynamics of such a two-robot system are modeled. An adaptive fault-tolerant control scheme is developed to make the two-robot system asymptotic track a desired reference. To deal with the uncertainty of the control gain matrix caused by actuator faults, a new positive definite control gain matrix is constructed, and its minimum eigenvalue is utilized for the adaptive compensation design. Simulation results verify the effectiveness of the proposed fault-tolerant control scheme.Show less >
Language :
Anglais
Popular science :
Non
Collections :
Source :