Active fault-tolerant control for two-wheeled differential drive mobile robot based on fault compensation method

摘要

To enhance the reliability of two-wheeled differential drive mobile robot, a method of active fault-tolerant control based on fault compensation was presented. The kinematic model of mobile robot is investigated thoroughly, and the failure models and their effects are analyzed. Meanwhile, a method to solve the problem of fault detection and isolation is based on evolutionary algorithm. Then an active fault-tolerant control scheme is proposed, and the fault-tolerant control algorithm based on fault compensation for actuator under the condition of different fault is deduced. The experimental results show the method has excellent effect of fault tolerance control.