International Journal of applied mathematics and computer science

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Paper details

Number 4 - December 2017
Volume 27 - 2017

Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control

Yajie Ma, Vincent Cocquempot, Maan El Badaoui El Najjar, Bin Jiang

Abstract
This paper develops a new actuator failure compensation scheme for two linked two-wheel drive (2WD) mobile robots based on multiple-model control. First, a configuration of two linked 2WD robots is described, and their kinematics and dynamics are modeled. Then, a multiple-model based failure compensation scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers and a control switching mechanism, which ensures system stability and asymptotic tracking properties. Finally, simulation results verify the effectiveness of the proposed failure compensation control system.

Keywords
actuator failure, multiple-model control, physically linked robots, two-wheel drive

DOI
10.1515/amcs-2017-0053