Fault tolerant control for unicycle mobile robot navigation: active ѵs passive approaches

Abstract

In this article we present a comparison between two types of fault tolerant control (FTC) on a unicycle-type mobile robot: active and passive approaches. The active approach requires a fault diagnosis step following by a control accommodation step. The fault diagnosis allows to detect and identify the fault occurrence for its accommodation and control reconfiguration. In our work, the fault diagnosis procedure is designed based on the structural analysis technique. However, fault accommodation is designed based on the Recursive Least Squares (RLS) approximation. On the other hand, passive approach is accomplished using the Integrated Sliding Mode Controller (ISMC). This robust technique is implemented without the need for fault diagnosis nor control reconfiguration. Simulations have been performed for reference trajectory tracking while considering a deflation on wheel of robot. The robustness of both the approaches against the fault is analyzed.