Adaptive sliding mode controller design for mobile robot fault tolerant control. introducing ARTEMIC.

摘要

Current real-time applications should timely deliver synchronized data-sets, minimize latency in their response and meet their performance specifications in the presence of disturbances and faults. The adaptive features of the designed controller are present at the lower control level using specific artificial intelligence techniques. Fuzzy inference system design is the fundamental element to generate an adaptive nonlinear controller for the robot operation in the presence of disturbances and modeling inaccuracies. This paper introduces an adaptive real-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots, named ARTEMIC. Specific design, development and implementation details will be provided in this paper.