Adaptive Fault-Tolerant Control of Mobile Robots with Fractional-Order Exponential Super-Twisting Sliding Mode

Adaptive Fault-Tolerant Control of Mobile Robots with Fractional-Order Exponential Super-Twisting Sliding Mode

Industrial mobile robots easily experience actuator loss of some effectiveness and additive bias faults due to the working scenarios, resulting in unexpected performance degradation. This article proposes a novel adaptive fault-tolerant control (FTC) strategy for nonholonomic mobile robot systems su...

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Bibliographic Details
Main Authors: Hao Wu, Shuting Wang, Yuanlong Xie, Hu Li
Format: Article
Language:English
Published: MDPI AG 2024-10-01
Series:Fractal and Fractional
Subjects:
adaptive fault-tolerant control (FTC)
exponential super-twisting reaching law
fractional-order sliding mode
lock-in-place (LIP)
mobile robot partial loss-of-effectiveness (LOE)
Online Access:https://www.mdpi.com/2504-3110/8/10/612
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