Title :
Supervisory Fault Adaptive Control of a Mobile Robot and Its Application in Sensor-Fault Accommodation
Author :
Ji, Meng ; Sarkar, Nilanjan
Author_Institution :
Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA
Abstract :
A new architecture for fault adaptive control (FAC) of a mobile robot is presented. This architecture is based on the hybrid supervisory control theory. A systematic design procedure for the major components of this architecture is discussed in the context of sensor-fault accommodation by a mobile robot. The FAC architecture is implemented in a mobile robot for laboratory experimentation. Experimental results are provided to demonstrate the feasibility of the proposed FAC architecture
Keywords :
adaptive control; discrete event systems; fault tolerance; mobile robots; laboratory experimentation; mobile robot; sensor-fault accommodation; supervisory fault adaptive control; Actuators; Adaptive control; Fault detection; Laboratories; Mathematical model; Mobile robots; Robot sensing systems; Robustness; Sensor systems; Supervisory control; Fault accommodation; fault adaptive control (FAC); mobile robot; sensor fault;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2006.889481
