Publication

A fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot

Conference Article

Conference

Conference on Control and Fault Tolerant Systems (SYSTOL)

Edition

3rd

Pages

7-14

Doc link

http://dx.doi.org/10.1109/SYSTOL.2016.7739721

File

Download the digital copy of the doc pdf document

Authors

Projects associated

Abstract

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.

Categories

control theory.

Scientific reference

E. Codres, A. Stancu and V. Puig. A fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot, 3rd Conference on Control and Fault Tolerant Systems, 2016, Barcelona, pp. 7-14, IEEE.