On Fault Tolerant Control of Wheeled Mobile Robot Based on Fast Adaptive Fault Estimation Algorithm

被引：0
|
作者：
Hrizi, O. [1 ]
Boussaid, B. [1 ]
Zouinkhi, A. [1 ]
Aubrun, C. [2 ]
Abdelkrim, M. N. [1 ]
机构：
[1] Univ Gabes, Gabes, Tunisia
[2] Univ Lorraine, Nancy, France
来源：
SYSTEMS, AUTOMATION, AND CONTROL | 2019年 / 9卷
关键词：
Fault diagnosis; Fault Tolerant Control; Fast Adaptive Fault Estimation; Wheeled Mobile Robot; DIAGNOSIS; SYSTEMS; ACTUATOR; TRACKING; DESIGN;
D O I：
10.1515/9783110591729-012
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This work studies the problem of fault detection and estimation using a Fast Adaptive Observer algorithm and it introduces then a procedure for the design of reconfigurable linear quadratic (LQ) state-feedback control tolerant to actuator fault. Then, to overcome the drawback of wheeled mobile robot's model responses when including a fault, a Fast Adaptive Fault Estimation (FAFE) algorithm is adopted for this robot to improve the fault estimation and thereafter to repair its trajectory. It is a reasonable safety strategy since the robot may be moving, detecting, isolating and tracking the path again. That's why a numerical example on a linearized model describing a mobile robot such as the Pioneer robot is proposed to illustrate the theoretical results.
引用
收藏
页码：211 / 227
页数：17
相关论文
共 50 条
  • [41] A Fault Tolerant Control for Robot Manipulators against Actuator Fault
    Elghoul, Aymen
    Bouziri, Adel
    Tellili, Adel
    Abdelkrim, Mohamed Naceur
    [J]. 2017 18TH INTERNATIONAL CONFERENCE ON SCIENCES AND TECHNIQUES OF AUTOMATIC CONTROL AND COMPUTER ENGINEERING (STA), 2017, : 218 - 222
  • [42] Fault tolerant attitude control for spacecraft based on adaptive fast terminal sliding mode
    Zhao, Lin
    Yan, Xin
    Gao, Shuai-He
    [J]. Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics, 2012, 34 (05): : 982 - 988
  • [43] Fault-tolerant control for PMSM based on ADRC and Fault Estimation Compensation
    Wang, Fuxiang
    Ma, Liling
    Wang, Junzheng
    Shen, Wei
    [J]. PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE, 2020, : 4018 - 4023
  • [44] Fault Estimation Based Fault-Tolerant Control Method for Unmanned Vehicle
    Xia Q.
    Chen L.
    Xu X.
    Cai Y.
    Chen T.
    Wu X.
    [J]. Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology, 2022, 42 (07): : 723 - 732
  • [45] Fast fault section estimation in distribution control centers using adaptive genetic algorithm
    Leao, Fabio Bertequini
    Pereira, Rodrigo A. F.
    Mantovani, Jose R. S.
    [J]. INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS, 2014, 63 : 787 - 805
  • [46] A Control Algorithm for Hexapod Mobile Robot Gait in Fault Conditions
    Stoian, Viorel
    Vladu, Ionel Cristian
    [J]. 2016 20TH INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC), 2016, : 349 - 354
  • [47] Adaptive Backstepping Control of a Wheeled Mobile Robot
    Nganga-Kouya, Donatien
    Okou, Francis A.
    [J]. MED: 2009 17TH MEDITERRANEAN CONFERENCE ON CONTROL & AUTOMATION, VOLS 1-3, 2009, : 85 - 91
  • [48] Adaptive robust control with slipping parameters estimation based on intelligent learning for wheeled mobile robot
    Korayem, M. H.
    Safarbali, M.
    Lademakhi, N. Yousefi
    [J]. ISA TRANSACTIONS, 2024, 147 : 577 - 589
  • [49] Adaptive Control of Nonholonomic Wheeled Mobile Robot
    Ramakrishnan, R.
    Elayaraja, D.
    Ramabalan, S.
    [J]. 2014 INTERNATIONAL CONFERENCE ON ADVANCES IN ENGINEERING AND TECHNOLOGY (ICAET), 2014,
  • [50] A reliable fault tolerant attitude control system based on an adaptive fault detection and diagnosis algorithm together with a backstepping fault recovery controller
    Bolandi, H.
    Haghparast, M.
    Abedi, M.
    [J]. SCIENTIA IRANICA, 2013, 20 (06) : 1999 - 2014
12345