Fault tolerant control for a general class of nonholonomic dynamic systems via terminal sliding mode

Abstract

In this paper, a constructive fault tolerant control strategy is developed for a general class of uncertain non-holonomic systems. The terminal slide mode technique and the minimal dilation degree scheme are used to accommodate the actuator partial loss of effectiveness and additive actuation fault. Two step control procedures are proposed under the finite time convergence. The parking problem for a wheeled mobile robot is presented to illustrate the effectiveness of the fault tolerant control strategy and demonstrate the application of the general system.