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

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2 Author(s)
Meng Ji ; Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA ; Nilanjan Sarkar

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

Published in:

IEEE Transactions on Robotics  (Volume:23 ,  Issue: 1 )