- Tytuł:
- Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control
- Autorzy:
-
Ma, Y.
Cocquempot, V.
El Badaoui El Najjar, M.
Jiang, B. - Powiązania:
- https://bibliotekanauki.pl/articles/331196.pdf
- Data publikacji:
- 2017
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
actuator failure
multiple model control
physically linked robot
two wheel drive
awaria siłownika
sterowanie wielomodelowe
robot połączony - Opis:
- This paper develops a new actuator failure compensation scheme for two linked two-wheel drive (2WD) mobile robots based on multiple-model control. First, a configuration of two linked 2WD robots is described, and their kinematics and dynamics are modeled. Then, a multiple-model based failure compensation scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers and a control switching mechanism, which ensures system stability and asymptotic tracking properties. Finally, simulation results verify the effectiveness of the proposed failure compensation control system.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2017, 27, 4; 763-776
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł