Supervisory Fault Adaptive Control of a Mobile Robot and Its Application in Sensor-Fault Accommodation

  • Authors:

  • M. Ji;N. Sarkar

  • Affiliations:

  • Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA;-

  • Venue:
  • IEEE Transactions on Robotics
  • Year:
  • 2007

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Abstract

A new architecture for fault adaptive control (FAC) of a mobile robot is presented. This architecture is based on the hybrid supervisory control theory. A systematic design procedure for the major components of this architecture is discussed in the context of sensor-fault accommodation by a mobile robot. The FAC architecture is implemented in a mobile robot for laboratory experimentation. Experimental results are provided to demonstrate the feasibility of the proposed FAC architecture