Actuator Fault Compensation in Three Linked 2WD Mobile Robots Using Multiple Dynamic Controllers

摘要

The paper presents a new compensation control scheme to control three linked wheeled mobile robots with actuator failures. First, a configuration of three mobile robots with fixed link is described, and its kinematics and dynamics are modelled. 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. The kinematic controller is based on the transformation of the considered kinematics into a chained-form system, after that the recursive technique is used to derive the kinematic control law, based on which, multiple dynamic controllers are designed considering all possible failure cases. From these dynamic controllers, an appropriate one is selected to generate the applied control signal by the control switching mechanism using multiple reconstruction dynamic signals to ensure desired system performance. Simulated fault scenarios are presented to illustrate the performance of the proposed approach.