Adaptive Active Fault Tolerant Control for a Wheeled Mobile Robot under Actuator Fault and Dead Zone

摘要

This paper illustrates a methodology by which a novel adaptive fault tolerant control scheme is designed for a wheeled mobile robot under actuator fault and dead zone. It is noticeable that this proposed method actively compensates the actuator fault and dead zone but it does not need to get online information about fault conditions from fault diagnosis mechanisms. The correctness of this proposed method is guaranteed by Lyapunove criterion and the Barbalat's lemma. The simulation results confirm the merit and efficiency of this proposed method.