TY - GEN
T1 - Design of fault-tolerant cooperative control algorithm applied to WMRs against actuator faults
AU - Kamel, Mohamed A.
AU - Yu, Xiang
AU - Zhang, Youmin
N1 - Publisher Copyright:
© 2016 American Automatic Control Council (AACC).
PY - 2016/7/28
Y1 - 2016/7/28
N2 - This paper investigates new fault-tolerant cooperative control (FTCC) strategies for multiple wheeled mobile robots (WMRs) in the presence of actuator faults. When actuator faults occur in one of the robots of the team, two cases are considered: 1) the faulty robot cannot complete its assigned task due to a severe fault occurrence, and it has to get out from the formation mission. As a result, the FTCC strategy is designed to re-assign the mission to the remaining healthy robots; and 2) the faulty robot can continue the mission with degraded performance, then the other team members reconfigure their controllers considering the remaining capability of faulty robot. Thus, the FTCC strategy is developed to re-coordinate the motion of each robot in the team. A fault detection and diagnosis (FDD) scheme using a two-stage Kalman filter is presented. Simulation results are presented to demonstrate the performance of the team in different fault scenarios.
AB - This paper investigates new fault-tolerant cooperative control (FTCC) strategies for multiple wheeled mobile robots (WMRs) in the presence of actuator faults. When actuator faults occur in one of the robots of the team, two cases are considered: 1) the faulty robot cannot complete its assigned task due to a severe fault occurrence, and it has to get out from the formation mission. As a result, the FTCC strategy is designed to re-assign the mission to the remaining healthy robots; and 2) the faulty robot can continue the mission with degraded performance, then the other team members reconfigure their controllers considering the remaining capability of faulty robot. Thus, the FTCC strategy is developed to re-coordinate the motion of each robot in the team. A fault detection and diagnosis (FDD) scheme using a two-stage Kalman filter is presented. Simulation results are presented to demonstrate the performance of the team in different fault scenarios.
KW - Fault detection and diagnosis
KW - Fault-tolerant cooperative control
KW - Wheeled mobile robots
UR - https://www.scopus.com/pages/publications/84992134039
U2 - 10.1109/ACC.2016.7526791
DO - 10.1109/ACC.2016.7526791
M3 - 会议稿件
AN - SCOPUS:84992134039
T3 - Proceedings of the American Control Conference
SP - 7092
EP - 7097
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -