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This paper presents a fault-tolerant path-tracking control design for a Four-Wheel Steering Four-Wheel Drive (4WS4WD) mobile robot. This study considers the impact of various faults, including actuator and sensor faults, on the robot’s ability to maintain path-tracking accuracy. A combination of Control Lyapunov Function (CLF) and Linear Quadratic (LQ) control methods with Passive Accommodation (PA) is proposed to ensure robust and reliable operation in the presence of faults. The proposed controller ensures that the robot continues to track the reference path even when faults such as steering system faults, motor faults, and measurement sensor faults occur. Simulation results demonstrate the effectiveness of the proposed control strategy in maintaining stability and optimizing performance even under severe fault conditions.

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Fault-Tolerant Path-Tracking Control for a Four-Wheel Steering Four-Wheel Drive Mobile Robot

  • 会议论文

  • 发表日期：

    2026年

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  • Nguyen Tien Dung Cao,
  • Dinh Tu Duong,
  • Van Du Phan,
  • Van Chuong Le,
  • The Anh Mai,
  • Thai Son Dang,
  • Thanh Tri Nguyen,
  • Thu Uyen Le Thi,
  • Sy Phuong Ho

摘要

This paper presents a fault-tolerant path-tracking control design for a Four-Wheel Steering Four-Wheel Drive (4WS4WD) mobile robot. This study considers the impact of various faults, including actuator and sensor faults, on the robot’s ability to maintain path-tracking accuracy. A combination of Control Lyapunov Function (CLF) and Linear Quadratic (LQ) control methods with Passive Accommodation (PA) is proposed to ensure robust and reliable operation in the presence of faults. The proposed controller ensures that the robot continues to track the reference path even when faults such as steering system faults, motor faults, and measurement sensor faults occur. Simulation results demonstrate the effectiveness of the proposed control strategy in maintaining stability and optimizing performance even under severe fault conditions.