Proposal of a Fault-tolerant controller for wheeled mobile robots with faulty actuators

Abstract

This article introduces a fault-tolerant control scheme for a two-wheeled mobile robot. The focus of this model is to address the impact of faults within the actuators, a critical aspect that significantly impacts the robot’s performance and operational efficiency. An observer is designed to monitor the dynamic state of the robot’s system, allowing it to promptly identify and assess the actuator’s faults that may arise during its operation. Based on this data, the extent of the fault’s influence on the overall system is estimated, providing essential information for subsequent control decisions. Analyzing and synthesizing control laws are built on mathematics and Lyapunov stability theory. The simulation is done by MATLAB-Simulink to validate the efficiency of the proposed control law, contributing valuable insights to the domain of robotics and control engineering.