Multiple-model based actuator fault compensation for two linked 2WD mobile robots

摘要

This paper develops a new compensation control scheme for two linked wheeled mobile robots with actuator failurs. First, a configuration of two linked two-wheel drive (2WD) mobile robots is described, and its kinematics and dynamics are modeled. Then, a multiple-model based control scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers and a control switching mechanism, which can ensure system stability and asymptotic tracking properties. Simulation results verify the effectiveness of the proposed control scheme.