Fault-Tolerant Control for Mobile Robots: Integrating Low-Pass Filters for Improved Actuator Fault Compensation

This paper presents the modeling and control of a non-holonomic mobile robot with a differential-drive configuration. The robot has two independent, active drive wheels and two passive rotating wheels, allowing it to maneuver with high precision. A Varying Low-Pass Filter (VLPF) is employed to preprocess feedback signals before they are fed into a back-stepping controller. This approach smoothens the feedback signals, thereby enhancing the Fault-Tolerant Control (FTC) system's performance and ensuring the robot's stability even in the presence of actuator faults. The proposed control strategy is validated through simulations and real-world experiments, demonstrating improved stability and robustness under various fault conditions.