Event-Based Adaptive Fault Tolerant Control and Collision Avoidance of Wheel Mobile Robots With Communication Limits

摘要

This article studies the adaptive fault tolerant control (AFTC) and collision avoidance problem for wheel mobile robots (WMRs) under event-triggered mechanism and communication constraints. The dynamics of WMRs and their transformation are considered first. To handle the constraint that only part of the robots can access the leader, the distributed state estimators are designed. Simultaneously the actuator faults and external disturbances are approximated by cerebellar model neural network. Then, an event-triggered-based AFTC and collision avoidance scheme is developed by utilizing a backstepping control technique and artificial potential field. The stability of the closed-loop system is proved and Zeno behaviors are excluded. Finally, the simulation evaluation and experimentation of three robots is implemented to illustrate the superiority of the presented scheme.