Predesignated fault-tolerant formation tracking quality for networked uncertain nonholonomic mobile robots in the presence of multiple faults

Intl J Robust & Nonlinear

Yang

2018

Summary This paper concentrates on the leader‐follower formation control problem for marine surface vessels with unknown nonlinear dynamics and actuator faults. The unknown inertia matrix and multiplicative fault render the existing methods infeasible. To solve this problem, a low‐complexity prescribed performance controller is first proposed without the help of auxiliary neural/fuzzy systems or adaptive mechanisms. A modification technique is further adopted to relax the initial condition, such that global closed‐loop stability is guaranteed. Finally, simulation results illustrate the above theoretical results.

“…As t <60 seconds, all the actuators are healthy, ie, τ f = τ . As t ≥60 seconds, the following constant actuator faults

τ_{f} = [\begin{matrix} 0.5 & 0 & 0 \\ 0 & 0.6 & 0 \\ 0 & 0 & 0.7 \end{matrix}] τ

occur, which means partial loss of effectiveness as commonly studied in other works, ie, the actuators τ u , τ v , and τ r lose 50%, 40%, and 30% of their effectiveness.…”

Section: Simulation Studymentioning

confidence: 89%

“…Motivated by other works,, the actuator faults are modeled by

τ_{f} = ρ τ + B false(t false),

where

ρ = diag false[ρ_{1}, ρ_{2}, ρ_{3} false] \in R^{3 \times 3}

stands for the matrix of multiplicative faults such as partial loss of effectiveness faults,

B false(t false) = {false[b_{1} false(t false), b_{2} false(t false), b_{3} false(t false) false]}^{T} \in R^{3}

denotes the vector of additive faults such as bias faults, and

τ \in R^{3}

stands for the control input.…”

Section: Problem Statement and Preliminariesmentioning

confidence: 99%

“…Choose the following performance function:

k_{i} = false(k_{i 0} - k_{i \infty} false) \exp false(- μ_{i} t false) + k_{i \infty}, i = x, y, ψ, u, v, r,

Section: Formation Control Designmentioning

confidence: 99%

“…Select proper parameters c i and k i 0 such that

- {\underline{k}}_{i} false(0 false) < e_{i} false(0 false) < {\overset{k}{true}}_{i} false(0 false), i = x, y, ψ, (||, e_{j} false(0 false)) < k_{j} false(0 false), j = u, v, r .

…”

Section: Formation Control Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Intl J Robust & Nonlinear

Yang

2018

Dual heuristic programming with just‐in‐time modeling for self‐learning fault‐tolerant control of mobile robots

Optim Control Appl Methods

2021

The development of autonomous wheeled mobile robots (WMRs) requires designing high‐performance motion controllers under complex dynamical constraints, which has been an important research topic in the fields of control theory and robotics. Considering the faults or disturbances in practice, previous works have designed various stable fault‐tolerant tracking control methods for WMRs. However, it is still challenging to design an optimal or nearly optimal controller in the case of faults. In this article, in order to deal with the changed properties of WMR dynamics, a just‐in‐time learning (JITL) based dual heuristic programming (DHP) algorithm is proposed to optimize the control performance under faults or disturbances. Without knowing the information of faults and the dynamics model, the changing dynamics can be identified online using the data‐driven method, and the control performance is optimized via DHP, which is a class of online reinforcement learning approach. The effectiveness of the proposed method is verified through fault‐tolerant tracking control simulations of a WMR system under different fault modes. It is shown that the proposed JITL‐based DHP approach has much better performance than previous DHP methods without fault estimation.

Fault tolerant consensus of multiple nonholonomic chained‐form systems with actuator and communication faults

Intl J Robust & Nonlinear

Yang

Jiang

2021

This article investigates the fault tolerant consensus problem of multiple nonholonomic chained‐form systems with both actuator and communication faults. The systems are enabled to follow a reference trajectory and realize practical consensus, by applying distributed reference state observers and robust adaptive fault tolerant control (FTC) strategies. The proposed state observers are robust to communication faults and can estimate the actual reference trajectory for each system. Based on such an observer, a robust adaptive FTC scheme is further provided to address actuator faults. A sine function is injected into the FTC law to relax the persistent excitation condition to avoid uncontrollability of the two‐input chained‐form system when one of reference control input tends to zero. Simulation result of wheeled mobile robots shows the effectiveness of proposed FTC methods.