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Licensed Unlicensed Requires Authentication Published by De Gruyter 2020

On Fault Tolerant Control of Wheeled Mobile Robot Based on Fast Adaptive Fault Estimation Algorithm

From the book Systems, Automation, and Control

  • O. Hrizi , B. Boussaid , A. Zouinkhi , C. Aubrun and M. N. Abdelkrim
https://doi.org/10.1515/9783110591729-012

Abstract

This work studies the problem of fault detection and estimation using a Fast Adaptive Observer algorithm and it introduces then a procedure for the design of reconfigurable linear quadratic (LQ) state-feedback control tolerant to actuator fault. Then, to overcome the drawback of wheeled mobile robot’s model responses when including a fault, a Fast Adaptive Fault Estimation (FAFE) algorithm is adopted for this robot to improve the fault estimation and thereafter to repair its trajectory. It is a reasonable safety strategy since the robot may be moving, detecting, isolating and tracking the path again. That’s why a numerical example on a linearized model describing a mobile robot such as the Pioneer robot is proposed to illustrate the theoretical results.

© 2019 Walter de Gruyter GmbH, Berlin/Munich/Boston
From the book
Systems, Automation, and Control
Systems, Automation, and Control

Chapters in this book (21)

Frontmatter
Preface of the Editors
Advances in Systems, Signals and Devices
Contents
PSO-CF2 Multi-Objective Mobile Robot Path Planning with PSO-PID end Position Regulation
Automatic Model Predictive Control code-generation for real-time implementation in a high-performance microcontroller
Fault Tolerant Control for Uncertain State Time-delay Systems
Observers Design for Takagi-Sugeno Models
Detection and Isolation of Sensor Faults for Nonlinear Systems: Robustness Against Disturbances
Stabilizing Fractional Order Integrator Design for Integrating and Unstable First Order Plants
Modeling and Explicit Model-Predictive Control of a Two-Tank System by PWA Approach
Comparison of Nonlinear Observers for a Nonlinear System
A Two-Step Procedure and Performance Analysis of Identification Algorithm for Hammerstein Time Delay System
Unknown Input Hamiltonian Observers-Based Fault Detection and Estimation
Relaxed Stability and Stabilization Conditions for Linear Parameter Varying Systems
On Fault Tolerant Control of Wheeled Mobile Robot Based on Fast Adaptive Fault Estimation Algorithm
A Multi-Smith Predictor for Time-Delay Systems’ Control
Performances and Robustness of GPC Controller in an Anticipative Context
Stability of 2-D Continuous T-S Fuzzy Systems Based on KYP Lemma
Stability Analysis and Stabilization of Discrete Singularly Perturbed System with Time-Delay
Sliding mode observer synthesis for multivariable systems: An LMI approach
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