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A fault-hiding approach for the switching quasi-LPV fault-tolerant control of a four-wheeled omnidirectional mobile robot

Author
Rotondo, D.; Puig, V.; Nejjari, F.; Romera, J.
Type of activity
Journal article
Journal
IEEE transactions on industrial electronics
Date of publication
2015-06-01
Volume
62
Number
6
First page
3932
Last page
3944
DOI
https://doi.org/10.1109/TIE.2014.2367002 Open in new window
Project funding
SYSTEM HEALTH MANAGEMENT AND RELIABLE CONTROL OF COMPLEX SYSTEMS
Repository
http://hdl.handle.net/2117/28323 Open in new window
URL
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6945902&tag=1 Open in new window
Abstract
This paper proposes a reference model approach for the trajectory tracking of a four-wheeled omnidirectional mobile robot. In particular, the error model is brought to a quasi-linear-parameter-varying (LPV) form suitable for designing an error-feedback controller. It is shown that, if polytopic techniques are used to reduce the number of constraints from infinite to finite, a solution within the standard LPV framework could not exist due to a singularity that appears in the possible values of th...
Citation
Rotondo, D. [et al.]. A fault-hiding approach for the switching quasi-LPV fault-tolerant control of a four-wheeled omnidirectional mobile robot. "IEEE transactions on industrial electronics", 01 Juny 2015, vol. 62, núm. 6, p. 3932-3944.
Keywords
ACCOMMODATION, ACTUATOR, ALGORITHM, CONSTRAINTS, CONTROL-SYSTEMS, DESIGN, Fault-tolerant control (FTC), LEAST-SQUARES, MODEL, OPTIMIZATION, PARAMETERS, identification, linear parameter-varying (LPV) systems, mobile robots, model reference, switched systems, tracking, virtual actuators
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Advanced Control Systems
SIC - Smart Control Systems

Participants