Fault-Tolerant Toque Control of a Four-Wheeled Redundantly-Actuated Mobile Robot

Four-wheeled redundantly-actuated mobile robot (FRMR) has been widely accepted in the industrial field due to its excellent tracking performance and working efficiency. The coordination distribution of the four driving motors is crucial for stabilizing the lateral motion of the FRMR. Given this context, based on model predictive mechanism, a fault-tolerant toque control method is presented here. First, we construct an integrated control method with torque distribution. Then, a constrained objective function is designed to coordinately regulate the torque of in-wheel motors subject to actuator faults. Finally, several comparative simulation experiments are carried out to demonstrate the validity and stability aspects of the presented fault-tolerant torque regulation method.