Title :
Active fault-tolerant control for two-wheeled differential drive mobile robot based on fault compensation method
Author :
Zhenyu Li ; Wenping Jiang
Author_Institution :
Dept. of Electr. & Electron. Eng., Shanghai Inst. of Technol., Shanghai, China
Abstract :
To enhance the reliability of two-wheeled differential drive mobile robot, a method of active fault-tolerant control based on fault compensation was presented. The kinematic model of mobile robot is investigated thoroughly, and the failure models and their effects are analyzed. Meanwhile, a method to solve the problem of fault detection and isolation is based on evolutionary algorithm. Then an active fault-tolerant control scheme is proposed, and the fault-tolerant control algorithm based on fault compensation for actuator under the condition of different fault is deduced. The experimental results show the method has excellent effect of fault tolerance control.
Keywords :
actuators; compensation; control system analysis; evolutionary computation; fault tolerant control; mobile robots; robot kinematics; active fault-tolerant control; actuator; evolutionary algorithm; failure effects; failure models; fault compensation method; fault condition; fault detection; fault isolation; mobile robot kinematic model; mobile robot reliability; two-wheeled differential drive mobile robot; Actuators; Fault diagnosis; Fault tolerance; Fault tolerant systems; Mobile robots; actuator; fault compensation; fault-tolerant control; mobile robot; motion control;
Conference_Titel :
Chinese Automation Congress (CAC), 2013
Conference_Location :
Changsha
Print_ISBN :
978-1-4799-0332-0
DOI :
10.1109/CAC.2013.6775759
