Geodesic
Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control
International Journal of Applied Mathematics and Computer Science, Tome 27 (2017) no. 4, pp. 763-776.

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This paper develops a new actuator failure compensation scheme for two linked two-wheel drive (2WD) mobile robots based on multiple-model control. First, a configuration of two linked 2WD robots is described, and their kinematics and dynamics are modeled. Then, a multiple-model based failure compensation scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers and a control switching mechanism, which ensures system stability and asymptotic tracking properties. Finally, simulation results verify the effectiveness of the proposed failure compensation control system.
Keywords: actuator failure, multiple model control, physically linked robot, two wheel drive
Mots-clés : awaria siłownika, sterowanie wielomodelowe, robot połączony 
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     title = {Actuator failure compensation for two linked {2WD} mobile robots based on multiple-model control},
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Ma, Y.; Cocquempot, V.; El Badaoui El Najjar, M.; Jiang, B. Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control. International Journal of Applied Mathematics and Computer Science, Tome 27 (2017) no. 4, pp. 763-776. http://geodesic.mathdoc.fr/item/IJAMCS_2017_27_4_a7/

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