Adaptive output-feedback fault-tolerant tracking control for mobile robots under partial loss of actuator effectiveness

Design and real-time implementation of actuator fault-tolerant control for differential-drive mobile robots based on multiple-model approach

“…The main advantages of the proposed method compared to the previous works can be summarized as follows: (1) it is able to detect, isolate, and identify actuator faults, while in Skoundrianos and Tzafestas, 6 Pratama et al, 9 Halder and Sarkar, 10 Stavrou et al, 12 and Baghernezhad and Khorasani, 13 one can only detect and/or isolate fault; (2) it only requires Cartersian coordinate of the mobile robot, while in all of the previous papers except Chang et al, 16 all the states of the robot are needed for fault detection, isolation, and identification; (3) the proposed FTC approach is simple and easy to implement without a need to reconfigure/modify the nominal controller, while in Chang et al, 16 it is required to reconfigure the nominal controller; and (4) it is experimentally implemented and validated, while the proposed FTC approaches [14][15][16][17][18] are only verified by simulation without providing the results related to their real-time implementation.…”

“…A self-tuning fuzzy proportional–derivative (PD) controller is proposed in Srebro 15 to improve a control strategy for a WMR in the presence of fault. In Chang et al, 16 an actuator fault-tolerant controller is designed to accommodate partial loss of actuator effectiveness fault and a fault hiding approach is proposed in Stancu et al 17 to design an actuator FTC for a differential-drive mobile robot. In Olfa et al, 18 a fault-tolerant controller is designed to estimate a power-cut actuator fault using an adaptive observer.…”