A Fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot
Visualitza/Obre
10.1109/SYSTOL.2016.7739721
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/102280
Tipus de documentText en actes de congrés
Data publicació2016
EditorIEEE Press
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
ProjecteOPERACION EFICIENTE DE INFRAESTRUCTURAS CRITICAS (MINECO-DPI2013-48243-C2-1-R)
CONTROL BASADO EN LA SALUD Y LA RESILIENCIA DE INFRAESTRUCTURAS CRITICAS Y SISTEMAS COMPLEJOS (MINECO-DPI2014-58104-R)
CONTROL BASADO EN LA SALUD Y LA RESILIENCIA DE INFRAESTRUCTURAS CRITICAS Y SISTEMAS COMPLEJOS (MINECO-DPI2014-58104-R)
Abstract
When mobile robots are intended to be used in hazardous environments or for long-time operations, it is needed to increase their robustness against faults. This could be achieved by means of the inclusion of Fault Tolerant Control (FTC) mechanisms. In this paper, a FTC based on fault hiding approach is proposed for a non-holonomic mobile robot. First, a Sliding Mode Controller (SMC) is designed to control the robost and to cope with modelling uncertainty. Later on, it is enhanced to take into account actuator faults leading to a fault hiding approach for the sliding mode fault-tolerant control of the robot. Results using simulated fault scenarios are presented to illustrate the performance of the proposed approach.
Descripció
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
CitacióStancu, A., Codres, E., Puig, V. A Fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot. A: International Conference on Control and Fault-Tolerant Systems. "SYSTOL 2016 - 3rd Conference on Control and Fault-Tolerant Systems, Barcelona, Spain, Sept. 7-9, 2016, proceedings book". Barcelona: IEEE Press, 2016, p. 7-14.
ISBN978-1-5090-0658-8
Versió de l'editorhttp://ieeexplore.ieee.org/document/7739721/
Fitxers | Descripció | Mida | Format | Visualitza |
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Systol 16 paper 1.pdf | Postprint | 1,299Mb | Visualitza/Obre |