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IJMERR 2022 Vol.11(6): 399-404

MPC Based Navigation of an Omni-directional Mobile Robot under Single Actuator Failure

Dinsha Vinod and P. S. Saikrishna
Department of Electrical Engineering, Indian Institute of Technology (IIT) Tirupati, India

Abstract—This paper presents the modeling and Model Predictive Controller (MPC) design for an omni-directional robot during a single actuator failure. A fault estimation method is used to identify the actuator failure, and thereby, the kinematic model of the mobile robot is reformulated to account for the fault. The controllability of the modified model during a single actuator failure is verified using Lie algebra. Finally, in the event of unforeseen combinations of single actuator failures, a Nonlinear MPC is designed for trajectory tracking and obstacle avoidance. Simulation results are used to demonstrate the robustness of the system to actuator failure.

Index Terms—Omni-directional robot, Actuator failure, MPC

Cite: Dinsha Vinod and P. S. Saikrishna, "MPC Based Navigation of an Omni-directional Mobile Robot under Single Actuator Failure," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 6, pp. 399-404, June 2022. DOI: 10.18178/ijmerr.11.6.399-404

Copyright © 2022 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.