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Robust fault-tolerant leader-follower control of four-wheel-steering mobile robots using terminal sliding mode

Koh, M., Norton, M. and Khoo, S. 2012, Robust fault-tolerant leader-follower control of four-wheel-steering mobile robots using terminal sliding mode, Australian journal of electrical and electronics engineering, vol. 9, no. 3, pp. 247-253, doi: 10.7158/E11-059.2012.9.3.

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Title Robust fault-tolerant leader-follower control of four-wheel-steering mobile robots using terminal sliding mode
Author(s) Koh, M.
Norton, M.
Khoo, S.
Journal name Australian journal of electrical and electronics engineering
Volume number 9
Issue number 3
Start page 247
End page 253
Total pages 7
Publisher Engineers Media
Place of publication Sydney, N.S.W.
Publication date 2012
ISSN 1448-837X
Keyword(s) fault-tolerant control
finite-time stability
non-linear systems
terminal sliding mode control
variable structure systems
Summary This paper addresses the actuator failure compensation problem of non-linear fourwheel-steering mobile robots based on vehicle kinematics, undergoing both known and unknown failures causing degenerated steering performance or wheels stuck at some observable angles. Terminal sliding mode control technique is used to guarantee the tracking stability infinite time with the presence of actuator fault. Simulation results are given to illustrate the effectiveness of the proposed control scheme. © Institution of Engineers Australia 2012.
Language eng
DOI 10.7158/E11-059.2012.9.3
Field of Research 090602 Control Systems, Robotics and Automation
091302 Automation and Control Engineering
Socio Economic Objective 970110 Expanding Knowledge in Technology
HERDC Research category C1 Refereed article in a scholarly journal
Persistent URL http://hdl.handle.net/10536/DRO/DU:30051086

Document type: Journal Article
Collection: School of Engineering
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