Control Theory and Technology

, Volume 17, Issue 4, pp 367–381 | Cite as

Distributed active fault tolerant control design against actuator faults for multiple mobile robots

  • Mahmoud HusseinEmail author
  • Jawhar Ghommam
  • Azeddine Ghodbane
  • Maarouf Saad
  • Vahé Nerguizian


This paper investigates the active fault tolerant cooperative control problem for a team of wheeled mobile robots whose actuators are subjected to partial or severe faults during the team mission. The cooperative robots network only requires the interaction between local neighbors over the undirected graph and does not assume the existence of leaders in the network. We assume that the communication exists all the time during the mission. To avoid the system’s deterioration in the event of a fault, a set of extended Kalman filters (EKFs) are employed to monitor the actuators’ behavior for each robot. Then, based on the online information given by the EKFs, a reconfigurable sliding mode control is proposed to take an appropriate action to accommodate that fault. In this research study, two types of faults are considered. The first type is a partial actuator fault in which the faulty actuator responds to a partial of its control input, but still has the capability to continue the mission when the control law is reconfigured. In addition, the controllers of the remaining healthy robots are reconfigured simultaneously to move within the same capability of the faulty one. The second type is a severe actuator fault in which the faulty actuator is subjected to a large loss of its control input, and that lead the exclusion of that faulty robot from the team formation. Consequently, the remaining healthy robots update their reference trajectories and form a new formation shape to achieve the rest of the team mission.


Distributed control non-holonomic mobile robot extended Kalman filter (EKF) sliding mode control fault tolerant control 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [1]
    K. K. Oh, H. S. Ahn. A survey of formation of mobile agents. IEEE International Symposium on Intelligent Control, Yokohama, Japan: IEEE, 2010: 1470–1475.Google Scholar
  2. [2]
    W. Dong. Tracking control of multiple-wheeled mobile robots with limited information of a desired trajectory. IEEE Transactions on Robotics, 2012, 28(1): 262–268.CrossRefGoogle Scholar
  3. [3]
    H. Cai, J. Huang. The leader-following attitude control of multiple rigid spacecraft systems. Automatica, 2014, 50(4): 1109–1115.MathSciNetCrossRefGoogle Scholar
  4. [4]
    R. Isermann. Fault-diagnosis Applications: Model-based Condition Monitoring: Actuators, Drives, Machinery, Plants, Sensors, and Fault-tolerant Systems. Berlin: Springer, 2011.zbMATHGoogle Scholar
  5. [5]
    Y. Zhang, J. Jiang. Bibliographical review on reconfigurable faulttolerant control systems. Annual Reviews in Control, 2008, 32(2): 229–252.CrossRefGoogle Scholar
  6. [6]
    M. S. Mahmoud, Y. Xia. Analysis and Synthesis of Fault-tolerant Control Systems. Chichester: John Wiley & Sons, 2013.CrossRefGoogle Scholar
  7. [7]
    M. M. Mahmoud, J. Jiang, Y. Zhang. Active Fault Tolerant Control Systems: Stochastic Analysis and Synthesis. Berlin: Springer, 2003.CrossRefGoogle Scholar
  8. [8]
    T. Gang, C. Shuhao, T. Xidong, et al. Adaptive Control of Systems with Actuator Failures. Berlin: Springer, 2013.zbMATHGoogle Scholar
  9. [9]
    M. Ji, Z. Zhang, G. Biswas, et al. Hybrid fault adaptive control of a wheeled mobile robot. IEEE/ASME Transactions on Mechatronics, 2003, 8(2): 226–233.CrossRefGoogle Scholar
  10. [10]
    P. Yazdjerdi, N. Meskin. Actuator fault detection and isolation of differential drive mobile robots using multiple model algorithm. Proceedings of the 4th IEEE International Conference on Control, Decision and Information Technologies (CoDIT), Barcelona, Spain: IEEE, 2017: 439–443.Google Scholar
  11. [11]
    Q. Song, Z. Jiang, J. D. Han. Active-model-based fault tolerant control against actuator failures for mobile robot. Proceedings of the 6th IEEE World Congress on Intelligent Control and Automation, Dalian: IEEE, 2006: 1415–1420.Google Scholar
  12. [12]
    Y.-H. Chang, C.-I. Wu, C.-Y. Yang. Adaptive output-feedback faulttolerant tracking control for mobile robots under partial loss of actuator effectiveness. Proceedings of the 54th IEEE Conference on Decision and Control (CDC), Osaka, Japan: IEEE, 2015: 6306–6311.Google Scholar
  13. [13]
    A. Stancu, E. Codres, V. Puig. A fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot. Proceedings of the 3rd IEEE Conference on Control and Fault-Tolerant Systems (SysTol), Barcelona, Spain: IEEE, 2016: 7–14.Google Scholar
  14. [14]
    J. Gong, B. Jiang, Q. Shen. Adaptive fault-tolerant neural control for Large-scale systems with actuator faults. International Journal of Control, Automation and Systems, 2019, 17(6): 1421–1431.CrossRefGoogle Scholar
  15. [15]
    D. Ye, X. Zhao, B. Cao. Distributed adaptive fault-tolerant consensus tracking of multi-agent systems against time-varying actuator faults. IET Control Theory & Applications, 2016, 10(5): 554–563.MathSciNetCrossRefGoogle Scholar
  16. [16]
    B. Zhou, W. Wang, H. Ye. Cooperative control for consensus of multi-agent systems with actuator faults. Computers & Electrical Engineering, 2014, 40(7): 2154–2166.CrossRefGoogle Scholar
  17. [17]
    G. Zhang, et al. Fault-tolerant coordination control for secondorder multi-agent systems with partial actuator effectiveness. Information Sciences, 2014, 423: 115–127.CrossRefGoogle Scholar
  18. [18]
    M. A. Kamel, X. Yu, Y. Zhang. Fault-tolerant cooperative control design of multiple wheeled mobile robots. IEEE Transactions on Control Systems Technology, 2018, 26(2): 756–764.CrossRefGoogle Scholar
  19. [19]
    J.-J. E. Slotine, Weiping Li. Applied Nonlinear Control. Englewood Cliffs: Prentice hall, 1991.zbMATHGoogle Scholar
  20. [20]
    C. Fallaha, M. Saad, H. Kanaan. Sliding mode control with exponential reaching law applied on a 3 DOF modular robot arm. Proceedings of the European Control Conference, Kos, Greece: IEEE, 2007: 4925–4931.Google Scholar
  21. [21]
    T. Fukao, H. Nakagawa, N. Adachi. Adaptive tracking control of a nonholonomic mobile robot. IEEE Transactions on Robotics and Automation, 2000, 16(5): 609–615.CrossRefGoogle Scholar
  22. [22]
    R. Dhaouadi, A. A. Hatab. Dynamic modelling of differential-drive mobile robots using lagrange and newton-euler methodologies: A unified framework. Advances in Robotics & Automation, 2013: DOI Scholar
  23. [23]
    X. Yun, Y. Yamamoto. Internal dynamics of a wheeled mobile robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan: IEEE, 1993: 1288–1294.Google Scholar
  24. [24]
    D. Rupp, G. Ducard, E. Shafai, et al. Extended multiple model adaptive estimation for the detection of sensor and actuator faults. Proceedings of the 44th IEEE Conference on Decision and Contro, Seville, Spain: IEEE, 2005: 3079–3084.CrossRefGoogle Scholar
  25. [25]
    G. J. J. Ducard. Fault-tolerant Flight Control and Guidance Systems: Practical Methods for Small Unmanned Aerial Vehicles. London: Springer, 2009.CrossRefGoogle Scholar
  26. [26]
    P. S. Maybeck. Multiple model adaptive algorithms for detecting and compensating sensor and actuator/surface failures in aircraft flight control systems. International Journal of Robust and nonlinear control, 1999, 9(14): 1051–1070.CrossRefGoogle Scholar
  27. [27]
    Bouteraa, Yassine, et al. Distributed synchronization control to trajectory tracking of multiple robot manipulators. Journal of Robotics, 2011: DOI Scholar

Copyright information

© South China University of Technology, Academy of Mathematics and Systems Science, CAS and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  • Mahmoud Hussein
    • 1
    Email author
  • Jawhar Ghommam
    • 2
  • Azeddine Ghodbane
    • 1
  • Maarouf Saad
    • 1
  • Vahé Nerguizian
    • 1
  1. 1.Department of Electrical EngineeringÉcole de Technologie SupérieureMontréalCanada
  2. 2.Department of Electrical and Computer EngineeringSultan Qaboos UniversityAl-Khoud 123Sultanate of Oman

Personalised recommendations