Fractional-order SMC controller for mobile robot trajectory tracking under actuator fault

Fractional-order SMC controller for mobile robot trajectory tracking under actuator fault

In this paper, aiming at the actuator fault-tolerant trajectory tracking problem of two-wheeled differential-driven mobile robots, a super-twisting fractional-order sliding mode fault-tolerant control method combined with a fault observer is proposed. The method not only ensures the pose tracking of...

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Bibliographic Details
Main Authors: Minghuang Qin, Songyi Dian, Bin Guo, Xu Tao, Tao Zhao
Format: Article
Language:English
Published: Taylor & Francis Group 2022-01-01
Series:Systems Science & Control Engineering
Subjects:
mobile robots
actuator fault
fault-tolerant control
fault observer
fosmc
Online Access:http://dx.doi.org/10.1080/21642583.2021.2023683

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