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<p>This paper presents a robust fault-tolerant control (FTC) strategy for non-holonomic mobile robots (NHMRs) operating under actuator faults, external disturbances, and system uncertainties. The proposed method introduces a dual-loop hierarchical architecture that integrates sliding mode control with a proportional-integral surface (SMC-PI), extended state observer (ESO), backstepping control, adaptive fuzzy logic, and a nonlinear fault observer (FO). The inner loop is designed to reject disturbances and compensate for unmodeled dynamics using SMC-PI and ESO, while the outer loop employs adaptive fuzzy backstepping and FO to ensure accurate trajectory tracking under actuator degradation. A Mamdani-type fuzzy system is developed to dynamically tune control gains based on real-time tracking errors, enhancing adaptability under time-varying conditions. Additionally, two independent observers are concurrently deployed to estimate both lumped disturbances and actuator faults, improving system robustness. The controller’s performance is validated through comprehensive simulations, including comparisons with benchmark methods under nominal, disturbed, and faulty scenarios. Results show significant improvements in tracking accuracy, fault compensation, and convergence speed, demonstrating the effectiveness and practicality of the proposed FTC strategy for NHMRs.</p>

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Robust Fault-Tolerant Control Based on the Integration of Controllers for Non-holonomic Mobile Robots with Disturbance Observers

  • 期刊论文

  • 发表日期：

    2026年4月23日

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  • Sy Phuong Ho,
  • Manh Tien Ngo,
  • Duy Tan Ngo,
  • Van Du Phan,
  • Thai Son Dang,
  • Dinh Tu Duong,
  • Van Nam Dinh,
  • Van Manh Tran

摘要

This paper presents a robust fault-tolerant control (FTC) strategy for non-holonomic mobile robots (NHMRs) operating under actuator faults, external disturbances, and system uncertainties. The proposed method introduces a dual-loop hierarchical architecture that integrates sliding mode control with a proportional-integral surface (SMC-PI), extended state observer (ESO), backstepping control, adaptive fuzzy logic, and a nonlinear fault observer (FO). The inner loop is designed to reject disturbances and compensate for unmodeled dynamics using SMC-PI and ESO, while the outer loop employs adaptive fuzzy backstepping and FO to ensure accurate trajectory tracking under actuator degradation. A Mamdani-type fuzzy system is developed to dynamically tune control gains based on real-time tracking errors, enhancing adaptability under time-varying conditions. Additionally, two independent observers are concurrently deployed to estimate both lumped disturbances and actuator faults, improving system robustness. The controller’s performance is validated through comprehensive simulations, including comparisons with benchmark methods under nominal, disturbed, and faulty scenarios. Results show significant improvements in tracking accuracy, fault compensation, and convergence speed, demonstrating the effectiveness and practicality of the proposed FTC strategy for NHMRs.