OTHER
Adaptive Compensation of Multiple Actuator Faults for Two Physically Linked 2WD Robots
Yajie Ma, Vincent Cocquempot, Maan El Badaoui El Najjar, Bin Jiang
- Year
- 2017
- Citations
- 15
Abstract
This short paper develops an adaptive compensation control scheme for two physically linked two-wheel-drive mobile robots with multiple actuator faults. Kinematic and dynamic models are first proposed. Then, an adaptive control scheme is designed, which ensures system stability and asymptotic tracking properties. Simulation results verify its effectiveness.
Keywords
ActuatorControl theory (sociology)KinematicsCompensation (psychology)RobotScheme (mathematics)Adaptive controlComputer scienceMobile robotControl engineering
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