Adaptive sliding mode based fault tolerant control of wheeled mobile robots
ABSTRACTIn this paper, we propose an adaptive sliding mode-based fault tolerant control for mobile robots. While a mobile robot is tracking a given trajectory, several fault cases may occur, such as sensor model and controller faults, changes in the dynamic equation due to robot body shape or weight...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2023-07-01
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| Series: | Automatika |
| Subjects: | |
| Online Access: | https://www.tandfonline.com/doi/10.1080/00051144.2023.2190866 |