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

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 dri...