A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems  

作　　者：Pingfan Liu Shaocheng Tong 

机构地区：[1]The Electrical Engineering College,Liaoning University of Technology,Jinzhou,Liaoning,121001,China [2]College of Science,Liaoning University of Technology,Jinzhou,Liaoning,121001,China

出　　处：《Journal of Automation and Intelligence》2024年第2期111-118,共8页自动化与人工智能（英文）

基　　金：the National Natural Science Foundation of China under Grant U22A2043.

摘　　要：This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzzy logic systems(FLSs) are utilized to work out immeasurable functions. Furthermore, with the support of the backsteppingcontrol technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme isdeveloped under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinearUWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulationvalidate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach.

关 键 词：Underactuated wheeled mobile robots system FINITE-TIME Fuzzy adaptive fault-tolerant control OUTPUT-FEEDBACK Intermittent actuator faults 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]