Modeling and Adaptive Fault Compensation for Two Physically Linked 2WD Mobile Robots

Yajie Ma (1) , Bin Jiang (1) , Vincent Cocquempot (2)

1 CAE-NUAA - College of Automation Engineering, Nanjing University of Aeronautics and Astronautics
2 CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189

This article addresses the fault-tolerant control problem of two-wheel-drive (2WD) mobile robots under actuator faults. To improve the actuation redundancy, a physical link is employed to connect two 2WD mobile robots. The kinematics and dynamics of such a two-robot system are modeled. An adaptive fault-tolerant control scheme is developed to make the two-robot system asymptotic track a desired reference. To deal with the uncertainty of the control gain matrix caused by actuator faults, a new positive definite control gain matrix is constructed, and its minimum eigenvalue is utilized for the adaptive compensation design. Simulation results verify the effectiveness of the proposed fault-tolerant control scheme.

Mots clés: Mobile robots; 2WD; Fault tolerant systems; Adaptive control; Kinematics; Robot sensing systems; Adaptation models

Domaines: Automatique / Robotique

Yajie Ma, Bin Jiang, Vincent Cocquempot. Modeling and Adaptive Fault Compensation for Two Physically Linked 2WD Mobile Robots. IEEE/ASME Transactions on Mechatronics, 2021, 26 (2), pp.1161-1171. ⟨10.1109/TMECH.2021.3052900⟩. ⟨hal-03112742⟩