Adaptive sliding mode controller design for mobile robot fault tolerant control. introducing ARTEMIC

Cristian Axenie, Daniela Cernega
2010 19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)  
Current real-time applications should timely deliver synchronized data-sets, minimize latency in their response and meet their performance specifications in the presence of disturbances and faults. The adaptive features of the designed controller are present at the lower control level using specific artificial intelligence techniques. Fuzzy inference system design is the fundamental element to generate an adaptive nonlinear controller for the robot operation in the presence of disturbances and
more » ... odeling inaccuracies. This paper introduces an adaptive real-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots, named ARTEMIC. Specific design, development and implementation details will be provided in this paper.
doi:10.1109/raad.2010.5524575 fatcat:n5vel3n3nvdqnd2fdpi57xyyxe