Actuator fault-tolerant control allocation for cooperative transportation of multiple omnidirectional mobile robots

Van Tam Ngo, Cheng Tzung Tsai, Yen Chen Liu

研究成果: Article同行評審

2 引文 斯高帕斯(Scopus)

摘要

In this paper, we propose a fault detection, fault isolation, and control reconfiguration (FDIR) for multiple automated guided vehicles (AGVs) to accomplish object transportation under actuator failures. Firstly, the observers are designed for the AGVs to detect any occurring faults in actuators. Secondly, banks of observers are employed to isolate the broken actuators. Finally, according to the isolation results, the controllers are reconfigured to accommodate the faults. The stability of the proposed methods is verified using the Lyapunov technique. It is worth noting that the proposed FDIR method considers the uncertainties in system dynamics, enhancing its practicality and convenience for implementation. The effectiveness of the proposed algorithm is demonstrated via both numerical and experimental examples involving multiple omnidirectional AGVs experiencing actuator faults.

原文English
頁(從 - 到)112-127
頁數16
期刊Advanced Robotics
38
發行號2
DOIs
出版狀態Published - 2024

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 軟體
  • 人機介面
  • 硬體和架構
  • 電腦科學應用

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