A Fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot
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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.
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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.
Versió de l'editorhttp://ieeexplore.ieee.org/document/7739721/