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

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

DOI: 10.1109/TRO.2006.889481

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Cite this paper

@article{Ji2007SupervisoryFA, title={Supervisory Fault Adaptive Control of a Mobile Robot and Its Application in Sensor-Fault Accommodation}, author={M. Ji and N. Sarkar}, journal={IEEE Transactions on Robotics}, year={2007}, volume={23}, pages={174-178} }