On fault tolerant control of mobile robot based on fast adaptive fault estimation

Abstract

This paper introduces a procedure for the design of reconfigurable linear quadratic (LQ) state-feedback control tolerant to actuator fault. In fact, this work is based on a previous one which use as a fault estimator bloc the Fast Adaptive Fault Estimation (FAFE) algorithm. Therefore, thanks to this novel estimation design, the process performances will be improved. As an example of simulation, a linear model describing an unicycle robot is proposed to illustrate the theoretical results.