RING COUPLING-BASED COLLABORATIVE FAULT-TOLERANT CONTROL FOR MULTI-ROBOT ACTUATOR FAULT

Jing He, Lin Mi, Jianhua Liu, Xiang Cheng, Zhenzhen Lin, and Changfan Zhang

Keywords

Multirobot system, actuator fault, ring coupling strategy, fault reconstruction, faulttolerant control

Abstract

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 slidingmode 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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