Adaptive Compensation of Multiple Actuator Faults for Two Physically Linked 2WD Robots

作者：Ma, Yajie; Cocquempot, Vincent^*; El Najjar, Maan El Badaoui; Jiang, Bin

来源：IEEE Transactions on Robotics, 2018, 34(1): 248-255.

DOI：10.1109/TRO.2017.2754518

• Adaptive compensation
• linked two-robot
• multiple actuator faults
• two-wheel drive (2WD)

This short paper develops an adaptive compensation control scheme for two physically linked two-wheel-drive mobile robots with multiple actuator faults. Kinematic and dynamic models are first proposed. Then, an adaptive control scheme is designed, which ensures system stability and asymptotic tracking properties. Simulation results verify its effectiveness.

• 出版日期2018-2
• 单位南京航空航天大学