Fuzzy Adaptive Fault-tolerant Control for Underactuated Wheeled Mobile Robot With Prescribed Performance

Abstract

This paper investigates the adaptive fuzzy fault-tolerant control (FTC) problem for a class of nonlinear underactuated wheeled mobile robot (UWMR) systems with intermittent actuator faults. Considering the UWMR system contains unknown nonlinear dynamics, the fuzzy logic systems (FLSs) are utilized to approximate the unknown nonlinear dynamics. Based on the fault-tolerant control theory and introducing the prescribed performance functions into the backstepping control process, a fuzzy prescribed performance adaptive FTC scheme is developed. It is proved that the proposed fuzzy adaptive prescribed performance FTC approach can guarantee that all the signals of the controlled UWMR system are bounded, and the tracking errors are kept within the prescribed boundaries even in the presence of the intermittent actuator faults. Finally, the computer simulation and comparison results are given to validate the effectiveness of the proposed FTC approach.