Multidesign Integration Based Adaptive Actuator Failure Compensation Control for Two Linked 2WD Mobile Robots

摘要

This paper develops an actuator failure compensation control scheme for two linked mobile robots. The kinematic and dynamic models of two robots with a physical link that is employed to deal with actuator failures for two-wheel drive mobile robots are proposed. Then, a kinematic controller is designed, which is a virtual one. Based on this controller, multiple adaptive dynamic control signals are designed to cover all possible failure cases. By combining these dynamic control signals, the dynamic controller is designed, which ensures desired system stability and asymptotic tracking properties. Finally, simulation results verify the effectiveness of the proposed adaptive actuator failure compensation scheme.