Actuator reconfiguration control of a robotic vehicle with four independent wheel driving

被引：0
|
作者：
Kim, Taewan [1 ]
Park, Jaemann [1 ]
Kim, H. Jin [1 ]
机构：
[1] Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul, South Korea
来源：
2015 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2015年
关键词：
reconfigurable control; unmanned ground vehicle;
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：
This article presents a driving algorithm for a four-wheeled independent driving vehicle based on reconfiguration control when a fault occurs. The objective of reconfiguration control is to maintain the same closed-loop characteristic even after actuator failure. Two simulations are conducted: one is for the state following when desired state is given and the other is to track the desired path using unicycle path tracking control. From the results of simulations, the reconfiguration control minimized the performance loss and guaranteed the same state trajectory with the state of non-fault case.
引用
收藏
页码：1767 / 1770
页数：4
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