Self-healing control method combining model predictive control and restart strategy for 4WD mobile robot

This paper presents a self-healing control strategy based on the restart method and model predictive control (MPC) for four-wheel-drive (4WD) mobile robot. Self-healing control is a difficult and hot spot in the current control field. When a system fault occurs, appropriate control methods can be adopted to maintain the basic operation of the system in the fault stage. At the same time, the system eliminates faults on the premise of using manpower as little as possible. Solving it, the system returns to normal state. This method can improve the work efficiency of the system and reduce the waste of resources. However, it is difficult to maintain the normal operation of the system during the fault stage, and eliminating faults is filled with challenges. The proposed method effectively solves these two problems. The passive accidental fault causes actuator failure and reduces the number of control inputs. MPC adjusts other inputs to ensure that the 4WD mobile robot tracks the reference trajectory and eliminates passive accidental faults through restart method. The optimal the restart time is obtained by optimizing the objective function, ensuring the maximum probability of eliminating the fault in the shortest time. In the end, the simulation experiment is performed through Matrix Laboratory. Compared with the non restart scheme, the tracking trajectory of the proposed control scheme is improved.