Performance-Guaranteed Fault Reconstruction for Mobile Robots via a Two-Dimensional Gain-Regulation Mechanism

摘要

In mobile robots, the process or actuator faults caused by the aging of system components or misoperations may have a strong impact on the real-time control performance; however, it is still hard to identify them accurately online. This article is concerned with the fault reconstruction problem of mobile robots. To be specific, a novel intermediate estimator is proposed to reconstruct the faults, where the estimation performance is guaranteed in the sense of driving the estimation errors to a small prescribed energy bound via a two-dimensional gain-regulation mechanism. It is shown that the proposed estimator is more accurate than the existing extended state observers and nominal intermediate estimator. The experimental test verifies the effectiveness and superiority of the proposed fault reconstruction scheme.