Adaptive output-feedback fault-tolerant tracking control for mobile robots under partial loss of actuator effectiveness

Yeong Hwa Chang; Chun I. Wu; Cheng Yuan Yang

doi:10.1109/CDC.2015.7403212

Adaptive output-feedback fault-tolerant tracking control for mobile robots under partial loss of actuator effectiveness

Yeong Hwa Chang, Chun I. Wu, Cheng Yuan Yang

Department of Electrical Engineering

Chang Gung University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 Scopus citations

Abstract

This paper presents an output-feedback fault-tolerant control scheme for mobile robots, where a set of dynamic equations of differential wheeled robots can be obtained from kinematics and dynamics analyses. Based on backstepping techniques with low-pass filters, the proposed control law can be derived. In particular, the problem of the partial loss of actuator effectiveness and unmeasured states is investigated. It can be shown that all closed-loop signals are uniformly ultimately bounded using Lyapunov stability analysis. Finally, results of simulations verify that the desired control object can be preserved under various uncertainties and actuator faults.

Original language	English
Title of host publication	54rd IEEE Conference on Decision and Control,CDC 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6306-6311
Number of pages	6
ISBN (Electronic)	9781479978861
DOIs	https://doi.org/10.1109/CDC.2015.7403212
State	Published - 08 02 2015
Event	54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan Duration: 15 12 2015 → 18 12 2015

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	54rd IEEE Conference on Decision and Control,CDC 2015
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	54th IEEE Conference on Decision and Control, CDC 2015
Country/Territory	Japan
City	Osaka
Period	15/12/15 → 18/12/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

adaptive control
dynamic surface design
fault-tolerant control
mobile robots
output-feedback

Access to Document

10.1109/CDC.2015.7403212

Cite this

Chang, Y. H., Wu, C. I., & Yang, C. Y. (2015). Adaptive output-feedback fault-tolerant tracking control for mobile robots under partial loss of actuator effectiveness. In 54rd IEEE Conference on Decision and Control,CDC 2015 (pp. 6306-6311). Article 7403212 (Proceedings of the IEEE Conference on Decision and Control; Vol. 54rd IEEE Conference on Decision and Control,CDC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2015.7403212

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abstract = "This paper presents an output-feedback fault-tolerant control scheme for mobile robots, where a set of dynamic equations of differential wheeled robots can be obtained from kinematics and dynamics analyses. Based on backstepping techniques with low-pass filters, the proposed control law can be derived. In particular, the problem of the partial loss of actuator effectiveness and unmeasured states is investigated. It can be shown that all closed-loop signals are uniformly ultimately bounded using Lyapunov stability analysis. Finally, results of simulations verify that the desired control object can be preserved under various uncertainties and actuator faults.",

keywords = "adaptive control, dynamic surface design, fault-tolerant control, mobile robots, output-feedback",

author = "Chang, {Yeong Hwa} and Wu, {Chun I.} and Yang, {Cheng Yuan}",

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Chang, YH, Wu, CI & Yang, CY 2015, Adaptive output-feedback fault-tolerant tracking control for mobile robots under partial loss of actuator effectiveness. in 54rd IEEE Conference on Decision and Control,CDC 2015., 7403212, Proceedings of the IEEE Conference on Decision and Control, vol. 54rd IEEE Conference on Decision and Control,CDC 2015, Institute of Electrical and Electronics Engineers Inc., pp. 6306-6311, 54th IEEE Conference on Decision and Control, CDC 2015, Osaka, Japan, 15/12/15. https://doi.org/10.1109/CDC.2015.7403212

Adaptive output-feedback fault-tolerant tracking control for mobile robots under partial loss of actuator effectiveness. / Chang, Yeong Hwa; Wu, Chun I.; Yang, Cheng Yuan.
54rd IEEE Conference on Decision and Control,CDC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 6306-6311 7403212 (Proceedings of the IEEE Conference on Decision and Control; Vol. 54rd IEEE Conference on Decision and Control,CDC 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper presents an output-feedback fault-tolerant control scheme for mobile robots, where a set of dynamic equations of differential wheeled robots can be obtained from kinematics and dynamics analyses. Based on backstepping techniques with low-pass filters, the proposed control law can be derived. In particular, the problem of the partial loss of actuator effectiveness and unmeasured states is investigated. It can be shown that all closed-loop signals are uniformly ultimately bounded using Lyapunov stability analysis. Finally, results of simulations verify that the desired control object can be preserved under various uncertainties and actuator faults.

AB - This paper presents an output-feedback fault-tolerant control scheme for mobile robots, where a set of dynamic equations of differential wheeled robots can be obtained from kinematics and dynamics analyses. Based on backstepping techniques with low-pass filters, the proposed control law can be derived. In particular, the problem of the partial loss of actuator effectiveness and unmeasured states is investigated. It can be shown that all closed-loop signals are uniformly ultimately bounded using Lyapunov stability analysis. Finally, results of simulations verify that the desired control object can be preserved under various uncertainties and actuator faults.

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KW - dynamic surface design

KW - fault-tolerant control

KW - mobile robots

KW - output-feedback

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ER -

Chang YH, Wu CI, Yang CY. Adaptive output-feedback fault-tolerant tracking control for mobile robots under partial loss of actuator effectiveness. In 54rd IEEE Conference on Decision and Control,CDC 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 6306-6311. 7403212. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2015.7403212

Adaptive output-feedback fault-tolerant tracking control for mobile robots under partial loss of actuator effectiveness

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