The Fault Diagnosis And Tolerant Control For The Mobile Robot System

With the rapid development of science and technology, the market of mobile robot is becoming larger and need the robot have more powerful performance at the same time. It makes robot system more and more complex and will also be more prone to failure. If we can introduce advanced fault diagnosis and fault-tolerant control technology, it will greatly improve the performance of mobile robot and enhance its security. So the research content of this topic is the fault diagnosis and fault-tolerant control of mobile robot and it includes four aspects, be familiar with the software and hardware structure of mobile robot and specific operation, set up the kinematics and dynamics model of mobile robot and design the controller, put forward the fault-tolerant control method of mobile robot actuators based on fault compensation, this method fully research the kinematics model of two-wheel differential mobile robot, analysis fault types of the actuator. At the same time separate and diagnose on fault with genetic algorithm and put forward initiative fault-tolerant control strategy under the premise, deduce fault-tolerant control algorithm when actuators in different fault case based on fault compensation. After experimental verification, this initiative fault-tolerant control algorithm can play an important role. At last this study designs robust observer to diagnose fault for mobile robot and separate actuator failures further, the simulation result shows that the algorithm has good fault diagnosis and separation effect.