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A fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot

AuthorsStancu, Alexandru; Codres, Eduard; Puig, Vicenç
Issue Date2016
PublisherInstitute of Electrical and Electronics Engineers
Citation3rd Conference on Control and Fault Tolerant Systems (SysTol): 21-23 (2016)
AbstractWhen 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.
DescriptionTrabajo presentado a la 3rd Conference on Control and Fault Tolerant Systems, celebrada en Barcelona (España) del 7 al 9 de septiembre de 2016.
Publisher version (URL)https://doi.org/10.1109/SYSTOL.2016.7739721
Identifiersdoi: 10.1109/SYSTOL.2016.7739721
isbn: 978-1-5090-0657-1
Appears in Collections:(IRII) Libros y partes de libros
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