Development and Implementation of a Fault-Tolerant Vehicle-Following Controller for a Four-Wheel-Steering Vehicle

摘要

This paper presents a fault-tolerant tracking controller for a platoon of two mobile robots. A vehicle model and a unified controller are proposed for both look-ahead and look-behind tracking of a four-wheel-steering vehicle. The controller can handle situations where faults occur at the two steering systems of the vehicle by making use of any operational systems to steer the vehicle. Tracking stability is ensured by the proper selection of design parameters. Experimental results show the control scheme work properly even in the situations when faults are on and off often at different parts of the vehicle