This article addresses the fault-tolerant control problem of two-wheel-drive (2WD) mobile robots under actuator faults. To improve the actuation redundancy, a physical link is employed to connect two 2WD mobile robots. The kinematics and dynamics of such a two-robot system are modeled. An adaptive fault-tolerant control scheme is developed to make the two-robot system asymptotic track a desired reference. To deal with the uncertainty of the control gain matrix caused by actuator faults, a new positive definite control gain matrix is constructed, and its minimum eigenvalue is utilized for the adaptive compensation design. Simulation results verify the effectiveness of the proposed fault-tolerant control scheme.

中文翻译：

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两个物理链接的 2WD 移动机​​器人的建模和自适应故障补偿


本文解决了执行器故障下两轮驱动（2WD）移动机器人的容错控制问题。为了提高驱动冗余度，采用物理链路连接两个 2WD 移动机​​器人。对这种双机器人系统的运动学和动力学进行了建模。开发了一种自适应容错控制方案，使双机器人系统渐近跟踪成为所需的参考。针对执行器故障引起的控制增益矩阵的不确定性，构造了新的正定控制增益矩阵，并利用其最小特征值进行自适应补偿设计。仿真结果验证了所提出的容错控制方案的有效性。