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Behavioural fault-tolerant-control of an omni-directional mobile robot with four-mecanum wheels
S. Mishra, M. Sharma,
Published in Defense Scientific Information and Documentation Centre
2019
Volume: 69
   
Issue: 4
Pages: 353 - 360
Abstract
This paper analyses the four-mecanum wheeled drive mobile robot wheels configurations that will give near desired performance with one fault and two faults for both set-point control and trajectory-tracking (circular profile) using kinematic motion control scheme within the tolerance limit. For one fault the system remains in its full actuation capabilities and gives the desired performance with the same control scheme. In case of two-fault wheels all combinations of faulty wheels have been considered using the same control scheme. Some configurations give desired performance within the tolerance limit defined while some does not even use pseudo inverse since using the system becomes under-actuated and their wheel alignment and configurations greatly influenced the performance. © 2019, DESIDOC.
About the journal
JournalDefence Science Journal
PublisherDefense Scientific Information and Documentation Centre
ISSN0011748X
Open AccessNo