PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessRestricted access - publisher's policy
In this paper, a fault tolerant control (FTC) strategy for an omnidirectional robot using a switching Takagi-Sugeno (TS) approach is proposed. The overall solution relies on adapting the controller in order to keep the stability and some desired performances. It is shown that the design can be performed using polytopic techniques and linear matrix inequalities (LMIs). Real results obtained with a four-wheeled omnidirectional mobile robot are used to demonstrate the
effectiveness of the proposed approach.
CitationRotondo, D.; Nejjari, F.; Puig, V. Fault tolerant control of an omnidirectional robot using a switched Takagi-Sugeno approach. A: IEEE International Conference on Control Applications. "IEEE Multi-Conference on Systems and Control (MSC 2014), 8-10 octubre, Antibes (France)". Antibes: Institute of Electrical and Electronics Engineers (IEEE), 2014, p. 2183-2188.
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