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SONG Qi
Robotics Laboratory,
Shenyang Institute of Automation,
Chinese Academy of Sciences,
Shenyang 110016, China
Department of Auto-Control,
Shenyang Institute of Aeronautical
Engineering,
Shenyang 110136, China
JIANG Zhe
HAN Jianda
Robotics Laboratory,
Shenyang Institute of Automation,
Chinese Academy of Sciences,
Shenyang 110016, China
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ONLINE MODEL AND ACTUATOR
FAULT TOLERANT CONTROL FOR
AUTONOMOUS MOBILE ROBOT*
Abstract: A novel fault-tolerant
adaptive control methodology against the actuator faults is
proposed. The actuator effectiveness factors (AEFs) are
introduced to denote the healthy of actuator, and the unscented
Kalman filter (UKF) is employed for online estimation of both
the motion states and the AEFs of mobile robot. A square root
version of the UKF is introduced to improve efficiency and
numerical stability. Using the information from the UKF, the
reconfigurable controller is designed automatically based on an
enhancement inverse dynamic control (IDC) methodology. The
experiment on a 3-DOF omni-directional mobile robot is
performed, and the effectiveness of the proposed method is
demonstrated.
Key words:
Unscented Kalman filter Active model Fault tolerance Inverse
dynamic control |