A Fault Hiding Approach for the Sliding Mode Fault-tolerant Control of a Non-holonomic Mobile Robot

被引：0
|
作者：
Stancu, Alexandru [1 ]
Codres, Eduard [1 ]
Puig, Vicenc [2 ]
机构：
[1] Univ Manchester, Control Syst Dept, Manchester M13 9PL, Lancs, England
[2] CSIC UPC, Inst Robot & Informat Ind, Carrer Llorens Artigas 4-6, Barcelona 08028, Spain
来源：
2016 3RD CONFERENCE ON CONTROL AND FAULT-TOLERANT SYSTEMS (SYSTOL) | 2016年
关键词：
TRACKING; SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
When mobile robots are intended to be used in hazardous environments or for long-time operations, it is needed to increase their robustness against faults. This could be achieved by means of the inclusion of Fault Tolerant Control (FTC) mechanisms. In this paper, a FTC based on fault hiding approach is proposed for a non-holonomic mobile robot. First, a Sliding Mode Controller (SMC) is designed to control the robost and to cope with modelling uncertainty. Later on, it is enhanced to take into account actuator faults leading to a fault hiding approach for the sliding mode fault-tolerant control of the robot. Results using simulated fault scenarios are presented to illustrate the performance of the proposed approach.
引用
收藏
页码：7 / 14
页数：8
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