On Fault Tolerant Control of Wheeled Mobile Robot Based on Fast Adaptive Fault Estimation Algorithm

This work studies the problem of fault detection and estimation using a Fast Adaptive Observer algorithm and it introduces then a procedure for the design of reconfigurable linear quadratic (LQ) state-feedback control tolerant to actuator fault. Then, to overcome the drawback of wheeled mobile robot's model responses when including a fault, a Fast Adaptive Fault Estimation (FAFE) algorithm is adopted for this robot to improve the fault estimation and thereafter to repair its trajectory. It is a reasonable safety strategy since the robot may be moving, detecting, isolating and tracking the path again. That's why a numerical example on a linearized model describing a mobile robot such as the Pioneer robot is proposed to illustrate the theoretical results.