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题名: Active-model-based fault tolerant control against actuator failures for mobile robot
作者: Song Q(宋崎) ; Jiang Z(姜哲) ; Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: 6th World Congress on Intelligent Control and Automation
会议日期: June 21-23, 2006
会议地点: Dalian, China
会议主办者: Dalian Univ Technol, Northeastern Univ, Dalian Maritime Univ, Shanghai Baosight Software Co Ltd, IEEE Robot & Automat Soc, Natl Nat Sci Fdn China, Chinese Assoc Automat, IEEE Control Syst Soc, Beijing Chapter, Minist Educ China, Grandar Robot Co Ltd, Yokogawa Elect Corp, KC Wong Educ Fdn, Siemens Ltd
会议录: WCICA 2006: Sixth World Congress on Intelligent Control and Automation, Vols 1-12, Conference Proceedings
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 1415-1420
收录类别: CPCI(ISTP) ; EI
ISBN号: 1-4244-0331-6
关键词: UKF ; active model ; fault tolerance ; IDC
摘要: A novel fault-tolerant control method for autonomous mobile robot is proposed in this paper. The actuator effectiveness factors (AEFs) are introduced into the dynamics equation of mobile robot. The Unscented Kalman Filter (UKF) is employed for real time estimation of both the motion states and the AEFs. Such an active estimation is further incorporated into inverse dynamics control (IDC). The IDC enhanced by real time AEF feedback can achieve a robust tracking performance even with the occurrence of actuator failures. Extensive simulations are conducted with respect to the dynamics of a developed omnidirectional mobile robot to verify the proposed scheme. The convergence of UKF-based estimation is presented in the presence of both noise-corrupted sensory data and rapidly changing states/ AEFs. Performance of the IDC enhanced by the active estimation is also compared with that of the normal IDC based on fixed dynamics, to demonstrate the improvements of the proposed control scheme.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8538
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
宋崎; 姜哲; 韩建达.Active-model-based fault tolerant control against actuator failures for mobile robot.见:IEEE .WCICA 2006: Sixth World Congress on Intelligent Control and Automation, Vols 1-12, Conference Proceedings,NEW YORK,2006,1415-1420
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