Design of fault-tolerant cooperative control algorithm applied to WMRs against actuator faults
Mohamed A. Kamel, Xiang Yang Yu, Youmin M. Zhang · 2016
This paper investigates new fault-tolerant cooperative control (FTCC) strategies for multiple wheeled mobile robots (WMRs) in the presence of actuator faults. When actuator faults occur in one of the robots of the team, two cases are considered: 1) the faulty robot cannot complete its assigned task due to a severe fault occurrence, and it has to get out from the formation mission. As a result, the FTCC strategy is designed to re-assign the mission to the remaining healthy robots; and 2) the faulty robot can continue the mission with degraded performance, then the other team members reconfigure their controllers considering the remaining capability of faulty robot. Thus, the FTCC strategy is developed to re-coordinate the motion of each robot in the team. A fault detection and diagnosis (FDD) scheme using a two-stage Kalman filter is presented. Simulation results are presented to demonstrate the performance of the team in different fault scenarios.