Robust Fault-Tolerant Leader-Follower Control of Four-Wheel Steering Mobile Robots Using Terminal Sliding Mode
M. Koh, Michael Norton, Suiyang Khoo · Australian Journal of Electrical & Electronics Engineering · 2012
This paper addresses the actuator failure compensation problem of non-linear four- wheel-steering mobile robots based on vehicle kinematics, undergoing both known and unknown failures causing degenerated steering performance or wheels stuck at some observable angles. Terminal sliding mode control technique is used to guarantee the tracking stability in finite time with the presence of actuator fault. Simulation results are given to illustrate the effectiveness of the proposed control scheme.