Adaptive output-feedback fault-tolerant tracking control for mobile robots under partial loss of actuator effectiveness

This paper presents an output-feedback fault-tolerant control scheme for mobile robots, where a set of dynamic equations of differential wheeled robots can be obtained from kinematics and dynamics analyses. Based on backstepping techniques with low-pass filters, the proposed control law can be derived. In particular, the problem of the partial loss of actuator effectiveness and unmeasured states is investigated. It can be shown that all closed-loop signals are uniformly ultimately bounded using Lyapunov stability analysis. Finally, results of simulations verify that the desired control object can be preserved under various uncertainties and actuator faults.