Minimal-energy finite-time control of omni-directional mobile robots subject to actuators faults Minimal-energy finite-time control of omni-directional mobile robots subject to actuators faults

• Published in: Nonlinear dynamics Vol. 113; no. 9; pp. 10061 - 10087
• Main Authors: Galicki, Mirosław, Banaszkiewicz, Marek, Węgrzyn, Marek
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.05.2025; Springer Nature B.V
• Subjects: Actuator failure; Applications of Nonlinear Dynamics and Chaos Theory; Classical Mechanics; Control; Control theory; Dynamical Systems; Energy consumption; Fault tolerance; Kinematics; Physics; Physics and Astronomy; Robot control; Robot dynamics; Statistical Physics and Dynamical Systems; Task space; Torque; Trajectory optimization; Vibration; Omni-directional mobile robot; Lyapunov stability; Temporarily optimal finite-time trajectory tracking; Actuator failure; Fault tolerant control
• ISSN: 0924-090X; 1573-269X
• DOI: 10.1007/s11071-024-10769-7

In this paper, we deal with optimal finite-time trajectory tracking by the omni-directional mobile robots (ODMRs) under: uncertain kinematics and dynamics, the actuator failure, undesirable forces/torques exerted on the mobile platform and unknown friction forces originating from joints directly driven by the actuators. Based on the suitably defined task space non-singular terminal sliding manifold (TSM) and the Lyapunov stability theory, we propose a class of new fault tolerant estimated generalized Jacobian controllers, which seem to be effective in counteracting the unstructured forces/torques. On account of the fact, that the omni-directional mobile robot is a redundant one, a useful criterion function reflecting an energy consumption or L 2 norm of controls - torques, has been utilized in our approach to temporarily optimally track a desired trajectory. The performance of the proposed control law is demonstrated by computer simulations conducted on a four mecanum wheels mobile robot (FMWMR) in conditions of unexpected actuator failure. Additionally, numerical comparisons are also provided with other representative control laws, found in the literature.