Fault-Tolerant Control Strategy for Steering Failures in Wheeled Planetary Rovers
Joint Authors
Schäfer, Bernd
de OLiveira e Souza, Marcelo Lopes
Carvalho Leite, Alexandre
Source
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-12-31
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
Fault-tolerant control design of wheeled planetary rovers is described.
This paper covers all steps of the design process, from modeling/simulation to experimentation.
A simplified contact model is used with a multibody simulation model and tuned to fit the experimental data.
The nominal mode controller is designed to be stable and has its parameters optimized to improve tracking performance and cope with physical boundaries and actuator saturations.
This controller was implemented in the real rover and validated experimentally.
An impact analysis defines the repertory of faults to be handled.
Failures in steering joints are chosen as fault modes; they combined six fault modes and a total of 63 possible configurations of these faults.
The fault-tolerant controller is designed as a two-step procedure to provide alternative steering and reuse the nominal controller in a way that resembles a crab-like driving mode.
Three fault modes are injected (one, two, and three failed steering joints) in the real rover to evaluate the response of the nonreconfigured and reconfigured control systems in face of these faults.
The experimental results justify our proposed fault-tolerant controller very satisfactorily.
Additional concluding comments and an outlook summarize the lessons learned during the whole design process and foresee the next steps of the research.
American Psychological Association (APA)
Carvalho Leite, Alexandre& Schäfer, Bernd& de OLiveira e Souza, Marcelo Lopes. 2012. Fault-Tolerant Control Strategy for Steering Failures in Wheeled Planetary Rovers. Journal of Robotics،Vol. 2012, no. 2012, pp.1-15.
https://search.emarefa.net/detail/BIM-491199
Modern Language Association (MLA)
Carvalho Leite, Alexandre…[et al.]. Fault-Tolerant Control Strategy for Steering Failures in Wheeled Planetary Rovers. Journal of Robotics No. 2012 (2012), pp.1-15.
https://search.emarefa.net/detail/BIM-491199
American Medical Association (AMA)
Carvalho Leite, Alexandre& Schäfer, Bernd& de OLiveira e Souza, Marcelo Lopes. Fault-Tolerant Control Strategy for Steering Failures in Wheeled Planetary Rovers. Journal of Robotics. 2012. Vol. 2012, no. 2012, pp.1-15.
https://search.emarefa.net/detail/BIM-491199
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-491199