Fault Tolerant Control of Mecanum Wheeled Mobile Robots
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866912753125425152 |
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| author | Ma, Xuehui Zhang, Shiliang Sun, Zhiyong |
| author_facet | Ma, Xuehui Zhang, Shiliang Sun, Zhiyong |
| contents | Mecanum wheeled mobile robots (MWMRs) are highly susceptible to actuator faults that degrade performance and risk mission failure. Current fault tolerant control (FTC) schemes for MWMRs target complete actuator failures like motor stall, ignoring partial faults e.g., in torque degradation. We propose an FTC strategy handling both fault types, where we adopt posterior probability to learn real-time fault parameters. We derive the FTC law by aggregating probability-weighed control laws corresponding to predefined faults. This ensures the robustness and safety of MWMR control despite varying levels of fault occurrence. Simulation results demonstrate the effectiveness of our FTC under diverse scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_06444 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Fault Tolerant Control of Mecanum Wheeled Mobile Robots Ma, Xuehui Zhang, Shiliang Sun, Zhiyong Robotics Mecanum wheeled mobile robots (MWMRs) are highly susceptible to actuator faults that degrade performance and risk mission failure. Current fault tolerant control (FTC) schemes for MWMRs target complete actuator failures like motor stall, ignoring partial faults e.g., in torque degradation. We propose an FTC strategy handling both fault types, where we adopt posterior probability to learn real-time fault parameters. We derive the FTC law by aggregating probability-weighed control laws corresponding to predefined faults. This ensures the robustness and safety of MWMR control despite varying levels of fault occurrence. Simulation results demonstrate the effectiveness of our FTC under diverse scenarios. |
| title | Fault Tolerant Control of Mecanum Wheeled Mobile Robots |
| topic | Robotics |
| url | https://arxiv.org/abs/2512.06444 |