A novel fault adaptive control methodology for a mobile robot is presented in this paper. A bond-graph based modeling technique is used for fault detection and isolation. A hierarchical control accommodation framework is developed for a supervisory controller that determines a suitable control strategy to accommodate the isolated fault. It is shown in the paper that for small degradations, a robust controller achieves fault accommodation without significant loss of performance. However, for large faults, the supervisor needs to switch among several controllers to maintain acceptable performance. Simulation results verify the proposed fault adaptive control technique for a mobile robot.
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