A novel fault-tolerant adaptive control methodology against the actuator faults is proposed. The actuator effectiveness factors (AEFs) are introduced to denote the healthy of actuator, and the unscented Kalman filter (UKF) is employed for online estimation of both the motion states and the AEFs of mobile robot. A square root version of the UKF is introduced to improve efficiency and numerical stability. Using the information from the UKF, the reconfigurable controller is designed automatically based on an enhancement inverse dynamic control (IDC) methodology. The experiment on a 3-DOF omni-directional mobile robot is performed, and the effectiveness of the proposed method is demonstrated.
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机译:Nanyang Technological University Researchers Provide Details of New Studies and Findings in the Area of Robotics (Nonlinear Predictive Motion Control for Autonomous Mobile Robots Considering Active Fault-Tolerant Control and Regenerative Braking)
机译:Patent Application Titled 'Method And System For Controlling Autonomous Mobile Robot, And Autonomous Mobile Robot' Published Online (USPTO 20230185306)
机译:Reports on Robotics Findings from National University of Defense Technology Provide New Insights (Dual Heuristic Programming With Just-in-time Modeling for Self-learning Fault-tolerant Control of Mobile Robots)
机译:Control and Dynamic Manipulability of a Dual-arm/Hand Robotic Exoskeleton System (EXO-UL8) for Rehabilitation Training in Virtual Reality =虚拟现实中用于康复训练的双臂/手机器人外骨骼系统(EXO-UL8)的控制和动力可操作性