Title:
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A Fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot
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Author:
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Stancu, Alexandru; Codres, Eduard; Puig Cayuela, Vicenç
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control |
Abstract:
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Abstract:
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When mobile robots are intended to be used in hazardous environments or for long-time operations, it is needed to increase their robustness against faults. This could be achieved by means of the inclusion of Fault Tolerant Control (FTC) mechanisms. In this paper, a FTC based on fault hiding approach is proposed for a non-holonomic mobile robot. First, a Sliding Mode Controller (SMC) is designed to control the robost and to cope with modelling uncertainty. Later on, it is enhanced to take into account actuator faults leading to a fault hiding approach for the sliding mode fault-tolerant control of the robot. Results using simulated fault scenarios are presented to illustrate the performance of the proposed approach. |
Abstract:
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robots -- Motion -Robots -- Control systems -Mobile robots -Wheels -Angular velocity -Robustness -Mathematical model -Kinematics -Robots -- Moviment -Robots -- Sistemes de control |
Rights:
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http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
Document type:
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Conference Object |
Published by:
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IEEE Press
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