An Adaptive Fault Tolerant Control for a Wheeled Mobile Robot under Actuator Fault and Dead Zone^*

摘要

This paper is concerned with a novel adaptive fault tolerant control (FTC) method for a wheeled mobile robot under actuator fault and dead zone to track a predefined trajectory. Prior knowledge of actuator fault and a dead zone is not needed. Although belonging to the passive category, the proposed FTC method does not require a robust component that causes a chattering phenomenon to overcome the actuator fault. Instead, the actuator fault is dealt with by a unique technique. The convergence of tracking errors is ensured by Lyapunov criterion. The merit and effectiveness of the proposed method are confirmed via simulation results.