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Title:
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Fault tolerant control of an omnidirectional robot using a switched Takagi-Sugeno approach
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Author:
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Rotondo, Damiano; Nejjari Akhi-Elarab, Fatiha; Puig Cayuela, Vicenç
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control |
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Abstract:
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In this paper, a fault tolerant control (FTC) strategy for an omnidirectional robot using a switching Takagi-Sugeno (TS) approach is proposed. The overall solution relies on adapting the controller in order to keep the stability and some desired performances. It is shown that the design can be performed using polytopic techniques and linear matrix inequalities (LMIs). Real results obtained with a four-wheeled omnidirectional mobile robot are used to demonstrate the
effectiveness of the proposed approach. |
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Abstract:
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Peer Reviewed |
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Automàtica i control
-Fault tolerant control
-Controllers
-Controladors programables |
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Rights:
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Document type:
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Article - Published version
Conference Object |
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Published by:
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Institute of Electrical and Electronics Engineers (IEEE)
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