Fault-Tolerant Control for Wheeled Mobile Robot via Finite-Time Adaptive Sliding Mode

Abstract

In this study, a fault-tolerant control (FTC) based on finite-time adaptive sliding mode (FTASMC) is developed to address potential faults in the wheeled mobile robot (WMR) system. This technique tries, on the one hand, to ensure that the system states converge in a finite amount of time throughout the reaching and sliding phases. Due to the design of the reaching law, the states of the system might reach the sliding surface. The states then slide over the surface until they reach a narrow domain around zero in a finite amount of time. On the other side, it seeks to guarantee fault tolerance in the control system while avoiding the chattering issue. This goal is realized by the proper design of an adaptive strategy. This controller is then embedded in a trajectory-tracking closed-loop system for a WMR. Finally, the stability is demonstrated using the Lyapunov approach. The effectiveness of the developed method is verified via simulations.