Actuator reconfiguration control of a robotic vehicle with four independent wheel driving

This article presents a driving algorithm for a four-wheeled independent driving vehicle based on reconfiguration control when a fault occurs. The objective of reconfiguration control is to maintain the same closed-loop characteristic even after actuator failure. Two simulations are conducted: one is for the state following when desired state is given and the other is to track the desired path using unicycle path tracking control. From the results of simulations, the reconfiguration control minimized the performance loss and guaranteed the same state trajectory with the state of non-fault case.