Robust Fault-Tolerant Leader-Follower Control of Four-Wheel Steering Mobile Robots Using Terminal Sliding Mode

Abstract

AbstractThis paper addresses the actuator failure compensation problem of non-linear four- wheel-steering mobile robots based on vehicle kinematics, undergoing both known and unknown failures causing degenerated steering performance or wheels stuck at some observable angles. Terminal sliding mode control technique is used to guarantee the tracking stability in finite time with the presence of actuator fault. Simulation results are given to illustrate the effectiveness of the proposed control scheme.Key Words: Terminal sliding mode controlfault-tolerant controlnon-linear systemsvariable structure systemsfinite-time stability