Jing He, Lin Mi, Jianhua Liu, Xiang Cheng, Zhenzhen Lin, and Changfan Zhang
Multi-robot system, actuator fault, ring coupling strategy, fault reconstruction, fault-tolerant control
In this paper, a ring coupling-based fault-tolerant control scheme is proposed to synchronize multi-robot systems with actuator faults. The control scheme includes a sliding-mode control law and a sliding- mode observer. The sliding-mode control law is given via the ring coupling strategy for a multi-robot system. To observe the status of unmeasurable variables and unknown fault control information, a sliding mode observer is designed such that the unknown fault information is accurately reconstructed by using the equivalent principle of sliding-mode variable structure. Based on the observed status value and fault reconstructed value, the sliding-mode control law can be adjusted online and thus the collaborative fault-tolerant control is realized online. Finally, simulations and experiments are given to demonstrate the effectiveness of the proposed method.
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