Fault Tolerant Formation Control of Nonholonomic Mobile Robots using Online Approximators
Abstract
For unmanned systems, it is desirable to have some sort of fault tolerant ability in order to accomplish the mission. Therefore, in this paper, the fault tolerant control of a formation of nonholonomic mobile robots in the presence unknown faults is undertaken. Initially, a kinematic/torque leader-follower formation control law is developed for the robots under the assumption of normal operation, and the stability of the formation is verified using Lyapunov theory. Subsequently, the control law for the formation is modified by incorporating an additional term, and this new control law compensates the effects of the faults. Moreover, the faults could be incipient or abrupt in nature. the additional term used in the modified control law is a function of the unknown fault dynamics which are recovered using the online learning capabilities of online approximators. Additionally, asymptotic convergence of the FDA scheme and the formation errors in the presence of faults is shown using Lyapunov theory. Finally, numerical results are provided to verify the theoretical conjectures. © 2010 SPIE.
Recommended Citation
B. T. Thumati et al., "Fault Tolerant Formation Control of Nonholonomic Mobile Robots using Online Approximators," Proceedings of SPIE - The International Society for Optical Engineering, vol. 7692, article no. 76920U, Society of Photo-optical Instrumentation Engineers, Jun 2010.
The definitive version is available at https://doi.org/10.1117/12.849489
Department(s)
Electrical and Computer Engineering
Second Department
Computer Science
Keywords and Phrases
And neural networks; Fault accommodation; Fault detection; Mobile robot formation; Stability analysis
International Standard Book Number (ISBN)
978-081948156-6
International Standard Serial Number (ISSN)
0277-786X
Document Type
Article - Conference proceedings
Document Version
Final Version
File Type
text
Language(s)
English
Rights
© 2024 Society of Photo-optical Instrumentation Engineers, All rights reserved.
Publication Date
25 Jun 2010