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Fault Diagnosis and Fault Tolerant Control for \({{n}}\)-Linked Two Wheel Drive Mobile Robots

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Mobile Robot: Motion Control and Path Planning

Part of the book series: Studies in Computational Intelligence ((SCI,volume 1090))

Abstract

This chapter presents Fault Diagnosis (FD) and Fault Tolerant Control (FTC) schemes for multiple physically linked mobile robots. A nonlinear dynamic observer is designed not only to estimate the actuator fault signal (to perform the Fault Diagnosis) but also to estimate the states that are needed in the feedback control law. Firstly, a system with three two-wheel drive (2WD) mobile robots subjected to multiplicative and additive actuators faults was considered. Secondly, the method was generalized for \(nth\) order mobile robots. A case study is presented by considering the problem of trajectory tracking of three physically linked 2WD mobile robots. The simulations were performed using the MATLAB/SIMULINK software, and it is shown that the nonlinear adaptive observer is suitable for the estimation of both the system state-space variables and the parameter associated with the actuator faults.

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Author information

Authors and Affiliations

  1. Electrical Engineering Technical College, Middle Technical University, Baghdad, Iraq

    Ayad Al-Dujaili

  2. University of Lille, CRIStAL (Research Centre in Computer Science, Signal and Automatic Control of Lille), UMR 9189, 59655, Villeneuve d’Ascq, France

    Vincent Cocquempot & Maan E. EI Najjar

  3. Department of Automatics, Federal University of Lavras (UFLA), Lavras-MG, Brazil

    Daniel Pereira

  4. Control and Systems Engineering Department, University of Technology-Iraq, Baghdad, Iraq

    Amjad Humaidi

Authors
  1. Ayad Al-Dujaili
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  2. Vincent Cocquempot
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  3. Maan E. EI Najjar
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  4. Daniel Pereira
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  5. Amjad Humaidi
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Corresponding author

Correspondence to Ayad Al-Dujaili .

Editor information

Editors and Affiliations

  1. Faculty of Computers and Artificial Intelligence, Benha University, Benha, Egypt

    Ahmad Taher Azar

  2. Electrical Engineering Department, University of Baghdad, College of Engineering, Baghdad, Iraq

    Ibraheem Kasim Ibraheem

  3. University of Technology, Baghdad, Iraq

    Amjad Jaleel Humaidi

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Al-Dujaili, A., Cocquempot, V., Najjar, M.E.E., Pereira, D., Humaidi, A. (2023). Fault Diagnosis and Fault Tolerant Control for \({{n}}\)-Linked Two Wheel Drive Mobile Robots. In: Azar, A.T., Kasim Ibraheem, I., Jaleel Humaidi, A. (eds) Mobile Robot: Motion Control and Path Planning. Studies in Computational Intelligence, vol 1090. Springer, Cham. https://doi.org/10.1007/978-3-031-26564-8_13

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