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Hybrid Fault Adaptive Control of a Mobile Robot

[+] Author Affiliations
Meng Ji, Zhen Zhang, Gautam Biswas, Nilanjan Sarkar

Vanderbilt University, Nashville, TN

Paper No. IMECE2002-32696, pp. 965-971; 7 pages
doi:10.1115/IMECE2002-32696
From:
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME

abstract

A novel fault adaptive control methodology for a mobile robot is presented in this paper. A bond-graph based modeling technique is used for fault detection and isolation. A hierarchical control accommodation framework is developed for a supervisory controller that determines a suitable control strategy to accommodate the isolated fault. It is shown in the paper that for small degradations, a robust controller achieves fault accommodation without significant loss of performance. However, for large faults, the supervisor needs to switch among several controllers to maintain acceptable performance. Simulation results verify the proposed fault adaptive control technique for a mobile robot.

Copyright © 2002 by ASME

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