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Robust fault-tolerant leader-follower control of four-wheel-steering mobile robots using terminal sliding mode
journal contribution
posted on 2012-01-01, 00:00 authored by M Koh, Michael NortonMichael Norton, Sui Yang KhooSui Yang KhooThis 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.
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Journal
Australian journal of electrical and electronics engineeringVolume
9Issue
3Pagination
247 - 253Publisher
Engineers MediaLocation
Sydney, N.S.W.Publisher DOI
ISSN
1448-837XLanguage
engPublication classification
C1 Refereed article in a scholarly journalUsage metrics
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