Fault Tolerant Control of Wheeled Mobile Robots Using Adaptive Sliding Mode Controller

Abstract

Differential Wheeled mobile robots with adaptive fault tolerant control are distinguished from other mobile robots for the features of detecting and identifying errors. This type of mobile robots can provide system stability and satisfactory performance of such faults. An Adaptive fault tolerant control system can be applied with many different controller structures in the literature. In this study, in order to decrease the disturbances, error and actuator faults of the system, an adaptive sliding mode controller and kinematic controller are proposed as a controllers system for the mobile robot. Besides the disturbance, the kinematic model is obtained by considering the fault in the actuator and the system states are examined. Two different system models have been compared and results are demonstrated in this work. These are mobile robot in case of actuator fault and disturbances and mobile robot with disturbance only.