Fault tolerant control of an omnidirectional robot using a switched Takagi-Sugeno approach

In this paper, a fault tolerant control (FTC) strategy for an omnidirectional robot using a switching Takagi-Sugeno (TS) approach is proposed. The overall solution relies on adapting the controller in order to keep the stability and some desired performances. It is shown that the design can be performed using polytopic techniques and linear matrix inequalities (LMIs). Real results obtained with a four-wheeled omnidirectional mobile robot are used to demonstrate the effectiveness of the proposed approach.