Trinh, M.T. and Nguyen, V.T. (2023) An Observer-Based Distributed Nonlinear Model Predictive Fault-Tolerant Control for Leader-Following Formation Tracking Control. In: 2023 International Conference on System Science and Engineering, ICSSE 2023, 27 August 2023 Through 28 August 2023, Virtual, Ho Chi Minh City.
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This paper presents an application of distributed nonlinear model predictive fault-tolerant controller (NMPFC) for leader- following formation tracking control in both free-fault and faulty case. The fault detection and diagnosis module integrated in each robot is based on an Extended Kalman filter (EKF) to estimate multiple faults occurring in that robot. The proposed solution is validated through simulation under Matlab-Simulink for mobile-robot systems. © 2023 IEEE.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Divisions: | Faculties > Faculty of Control Engineering |
| Identification Number: | 10.1109/ICSSE58758.2023.10227220 |
| Uncontrolled Keywords: | Fault detection; Fault tolerance; MATLAB; Model predictive control; Navigation; Nonlinear systems; Predictive control systems; Robots, Extended kalman filter; Fault-tolerant control; Faults tolerant controls; Follower robots; Formation control; Leader-follower; Leader-follower robot formation; Nonlinear model-based predictive control; Nonlinear model-based predictive controls; Robot formation, Extended Kalman filters |
| Additional Information: | Conference of 2023 International Conference on System Science and Engineering, ICSSE 2023 ; Conference Date: 27 August 2023 Through 28 August 2023; Conference Code:192135 |
| URI: | http://eprints.lqdtu.edu.vn/id/eprint/10959 |
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