A fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot
Conference on Control and Fault Tolerant Systems (SYSTOL)
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.
E. Codres, A. Stancu and V. Puig. A fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot, 3rd Conference on Control and Fault Tolerant Systems, 2016, Barcelona, pp. 7-14, IEEE.