DocumentCode :
3706058
Title :
On fault tolerant control of mobile robot based on fast adaptive fault estimation
Author :
Hrizi Olfa;Boussaid Boumedyen;Zouinkhi Ahmed;Abdelkrim Mohamed Naceur
Author_Institution :
University of Gabes, MACS Research Unit, National School of Engineering of Gabes
fYear :
2015
fDate :
3/1/2015 12:00:00 AM
Firstpage :
1
Lastpage :
6
Abstract :
This paper introduces a procedure for the design of reconfigurable linear quadratic (LQ) state-feedback control tolerant to actuator fault. In fact, this work is based on a previous one which use as a fault estimator bloc the Fast Adaptive Fault Estimation (FAFE) algorithm. Therefore, thanks to this novel estimation design, the process performances will be improved. As an example of simulation, a linear model describing an unicycle robot is proposed to illustrate the theoretical results.
Keywords :
"Mobile robots","Estimation","Robot kinematics","Actuators","Adaptation models","Fault tolerant control"
Publisher :
ieee
Conference_Titel :
Systems, Signals & Devices (SSD), 2015 12th International Multi-Conference on
Type :
conf
DOI :
10.1109/SSD.2015.7348224
Filename :
7348224
Link To Document :
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