Actuator fault estimation and fault tolerant control in three physically-linked 2WD mobile robots

Registro completo de metadados
MetadadosDescriçãoIdioma
Autor(es): dc.creatorPereira, Daniel A.-
Autor(es): dc.creatorAl-Dujaili, Ayad-
Autor(es): dc.creatorEl Najjar, Maan El Badaoui-
Autor(es): dc.creatorCocquempot, Vincent-
Autor(es): dc.creatorMa, Yajie-
Data de aceite: dc.date.accessioned2026-02-09T12:19:58Z-
Data de disponibilização: dc.date.available2026-02-09T12:19:58Z-
Data de envio: dc.date.issued2019-06-13-
Data de envio: dc.date.issued2019-06-13-
Data de envio: dc.date.issued2018-
Fonte completa do material: dc.identifierhttps://repositorio.ufla.br/handle/1/34771-
Fonte completa do material: dc.identifierhttps://www.sciencedirect.com/science/article/pii/S2405896318323711-
Fonte: dc.identifier.urihttp://educapes.capes.gov.br/handle/capes/1159173-
Descrição: dc.descriptionThis paper presents a method for actuator fault estimation and fault tolerant control applied to a problem of trajectory tracking in a nonlinear system composed of three physically-linked two-wheel-drive (2WD) mobile robots. To track the reference trajectory, a kinematic controller is designed based on velocity requirements and a dynamic controller is designed to guarantee stability. A nonlinear adaptive observer is used for state and fault estimation. The fault tolerance is obtained by updating the dynamic control law with the fault estimates. Simulation results of the three physically-linked 2WD mobile robots illustrate the performance of the proposed method.-
Idioma: dc.languageen-
Publicador: dc.publisherElsevier-
Direitos: dc.rightsrestrictAccess-
???dc.source???: dc.sourceIFAC-PapersOnLine-
Palavras-chave: dc.subjectFault tolerant control-
Palavras-chave: dc.subjectMobile robot-
Palavras-chave: dc.subjectFixed link-
Palavras-chave: dc.subjectFailure compensation-
Palavras-chave: dc.subjectFault diagnosis-
Palavras-chave: dc.subjectFault estimation-
Palavras-chave: dc.subjectNonlinear observer-
Título: dc.titleActuator fault estimation and fault tolerant control in three physically-linked 2WD mobile robots-
Tipo de arquivo: dc.typeArtigo-
Aparece nas coleções:Repositório Institucional da Universidade Federal de Lavras (RIUFLA)

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