Fault-tolerant control of trajectory tracking for mobile robot

Due to various reasons, mobile robot faults occur from time to time, especially actuator faults. To reduce the impact of actuator faults, actuator fault-tolerant controller for two-wheeled mobile robots is designed for actuator faults which are composed of loss of effectiveness actuator fault and bias-actuator fault. When the actuator faults occur, in order to compensate the faults, a fault observer is designed to estimate the value of the faults. Traditional method of designing controller parameters requires system identification, which has complex algorithms and poor robustness, in order to select the controller parameters automatically, the fuzzy system is utilized. Finally, the performance of the fault-tolerant control scheme is verified by a numerical simulation.