This paper considers the fault tolerant control (FTC) problem for a class of leader-follower multiple nonholonomic systems in the presence of actuator faults. A new developed distribute consensus law for followers and a sliding mode FTC law for the leader are proposed. An example of multiple wheeled mobile robots is given to illustrate proposed theorems and simulation results verify the effectiveness of the proposed FTC strategy.
Fault Tolerant Control for a Class of Multiple Nonholonomic Systems
Lect. Notes Electrical Eng.
2021-10-30
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Formation control of multiple nonholonomic mobile robots
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