Proceedings of 2023 International Conference on System Science and Engineering (ICSSE)

An Adaptive Fault Tolerant Control for a Wheeled

Mobile Robot under Actuator Fault and Dead Zone*
2023 International Conference on System Science and Engineering (ICSSE) | 979-8-3503-2294-1/23/$31.00 ©2023 IEEE | DOI: 10.1109/ICSSE58758.2023.10227153

Hai-Yen Pham Van-Tinh Nguyen

Department of Applied Sciences Department of Applied Sciences
International School, Vietnam National University International School, Vietnam National University
Hanoi, Vietnam Hanoi, Vietnam
yenph@vnu.edu.vn tinhnv@vnu.edu.vn

Thanh-Tung Bui
Department of Applied Sciences
International School, Vietnam National University
Hanoi, Vietnam
buithanhtung@vnu.edu.vn

Abstract—This paper is concerned with a novel adaptive fault
tolerant control (FTC) method for a wheeled mobile robot
under actuator fault and dead zone to track a predefined
trajectory. Prior knowledge of actuator fault and a dead zone
is not needed. Although belonging to the passive category, the
proposed FTC method does not require a robust component that
causes a chattering phenomenon to overcome the actuator fault.
Instead, the actuator fault is dealt with by a unique technique.
The convergence of tracking errors is ensured by Lyapunov
criterion. The merit and effectiveness of the proposed method
are confirmed via simulation results.
Index Terms—dead-zone, fault-tolerant control, track trajec-
tory, wheeled mobile robot.
I. I NTRODUCTION
It is well-known that wheeled mobile robots (WMRs) have
been applied all over the world. Their applicability makes
applications more flexible such as e-commerce, warehouses,
search and rescue, reconnaissance, and so forth. Many works
studying to control a WMR for tracking a trajectory under
nonholonomic constraints have been implemented.
During the operation, there might be faults happening at
actuators [1]. Hence, the task of ensuring the reliability and
safe of the actuators is vital. With the aim of minimizing the
influence of actuator faults, there are so many solutions of
fault-tolerant control for objects under such actuator faults
[2]. It is emphasized that there have been two major trends
to research fault-tolerant control, namely passive and active
trends. In the passive trend, adaptive laws are utilized in order
to update the states of the actuators and then the controller
will tackle such states [3]. However, the shortcoming of this
trend is that the exact magnitude of the actuator faults is
tough to estimate [4]. Consequently, a large-magnitude robust
*This research is funded by International School, Vietnam National Univer-
sity, Hanoi (VNU-IS) under project number CS.2022-01.
component of the control law is needed to compensate for
the deviations between the actual and estimated values of
the magnitudes of the actuator faults, which is the reason
why the large-magnitude chattering phenomenon occurs [5]. In
the active trend, the fault information is obtained via a fault
observer also known as fault diagnosis mechanisms. Hence,
not only the state of the control system is monitored carefully
for maintenance but also the fault information is provided to
the controller for compensating for the actuator faults [6].
Nonetheless, the accuracy of the observers strongly affects
the performance of the control systems in the active trend.
If the observers, particularly, supply wrong estimations, the
performance plummets, whereas heightening the reliability of
the observers, in contrast, makes the cost of the fault-tolerant
control system remarkably surge [7].
It is vital to consider the dead zone issue which is a non-
sensitive phenomenon on the inputs of actuators [8] inside
the actuators. The performance of control systems rapidly
deteriorates unless such a dead-zone issue is dealt with [9].
Motivated by the aforementioned studies, we propose a
novel adaptive fault-tolerant control method for a wheeled
mobile robot to track the position of a reference trajectory
under the actuator fault and the dead zone. The highlight
contribution of our proposed work is that even though our
fault-tolerant control solution belongs to the passive trend, it
still does not need a large-magnitude robust control component
to overcome the actuator fault. This advantage is similar to the
approaches belonging to the active fault-tolerant control trend
rather than the passive one. Furthermore, this work continues
the research of [7] by considering the saturation issue.
The remainder is organized as follows. Section 2 shows the
background, followed by Section 3 illustrating the main result.
Next, the simulation results are displayed in Section 4. Finally,

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 Proceedings of 2023 International Conference on System Science and Engineering (ICSSE)

Section 5 shows our conclusion. 𝑌 𝑌𝑀

II. BACKGROUND Left
driving 𝜃
A. Model of a wheeled mobile robot
wheel
First of all, the wheeled mobile robot under consideration
𝑦 𝑀
comprises two differential driving wheels and one caster wheel
as seen in Fig. 1. Let OXY be the world frame and M XM YM Right
2b
be the body frame where M is the middle point of the wheel- driving
shaft. r wheel
In accordance with [10], under no slipping between the 𝑂 𝑋
𝑥
wheels and the floor, the dynamic model of the WMR is
expressed as follows:
Fig. 1. The model of the wheeled mobile robot under consideration.
M q̈ + F (q̇) + τd = E(q)τ + AT λ (1)
where q = [x, y, θ]T is the vector of the coordinates consisting Both ri and ai ti
are unknown.
of positions and orientation, E(q) is the input transformation i
matrix, τ is the vector of the control input torques, M is the 0 < ri < 1.
inertia matrix shown as follows: - 𝑎𝑖 ri ui
ri
 
m 0 0 𝑎𝑖
M =  0 m 0
- i i is known
0 0 I in advance.
where m and I are the mass and the moment of inertia of the
WMR, respectively.
λ is an unknown force showing the nonholonomic constraint Fig. 2. The model of an actuator under fault and dead-zone.
of the WMR. F (q̇) denotes the vector of both friction forces
and uncertainties, τd expresses the external disturbance forces
that are unknown and bounded. In addition, the kinematic where
r2 mb2 + I mb2 − I
 
model is expressed by means of a relation as follows:
M = B T S(q)T M S(q)B = ,
4b2 mb2 − I mb2 + I
q̇ = S(q)Ω = S(q)Bφ (2)
where
  τ d = B T S T (q)τd , F (Ω) = B T S T (q)F (q̇).
cos θ 0  
r b b
S(q) = sin θ 0 , B =
  ,
2b 1 −1 B. Model of an actuator under fault and dead-zone.
0 1
   
w φ In order to provide an output torque τi with i = R, L, where
Ω= , φ= R .
ω φL R and L stand for ”right driving wheel” and ”left driving
wheel”, respectively, an input signal ui must be supplied to
v and ω express the linear and angular velocities of the WMR,
the input of the faulted actuator under consideration as shown
respectively. φR and φL are the angular velocities of the right
Fig. 2. In this study, only the partial loss of effectiveness is
and left wheel, respectively, about their wheel-shaft.
    discussed.
cos θ cos θ − sin θ
1
E(q) =  sin θ sin θ  , AT =  cos θ  .
r
b b 0 Actuator ti
r is the radius of each driving wheel, b is half of the distance Saturation i
between the two driving wheels.
Taking the derivative of (2) yields: 1 𝑣𝑖

q̈ = Ṡ(q)Bφ + S(q)B φ̇ (3) 1

Pre-multiplying B T S T (q) to the both sides of (1) and noting - i i is known

that S T (q)M Ṡ(q) = 0, S T (q)AT (q) = 0 leads to the in advance.
following equation:
M φ̇ + F (φ) + τ d = τ (4) Fig. 3. The saturation model of an actuator.

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 Proceedings of 2023 International Conference on System Science and Engineering (ICSSE)

For simplicity, the faulted i-th actuator’s model is classified 𝑣𝑖

into two parts. To do it, an extra variable vi is employed. Both ri and ai
The first part is shown in Fig. 3. Its mathematical model is are unknown.
described as follows:
 - ai ri ui
γi if vi ≥ γi
ri ai




τi = vi if − γi < vi < γi (5)

0 < ri < 1


−γi if vi ≤ −γi


where γi is the saturation value of the i-th actuator.

The mathematical model of the second part, which is Fig. 4. The relationship between the input ui and the extra variable vi .
revealed in Fig. 4, can be expressed as follows:



 ρi ui − ai if ui ≥ ai


vi = 0 if − ai < ui < ai (6)




ρi ui + ai if ui ≤ −ai


where ρi satisfying 0 < ρi < 1 shows the effective gain of the

i faulted actuator, ai satisfying ai > 0 shows the break point
of the dead zone.
In order to facilitate the expression of the faulted actuator,
the following vectors and diagonal matrices are defined:
 T  T
u = uR , uL , sign(χ) = sign(χ1 ), sign(χ2 ) ,
 
 T ρR 0
v = vR , vL , diag(ρ) = ,
0 ρL
 T  T Fig. 5. The target in the body frame MXY [11].
γ = γR , γL , τ = τR , τL ,

h

iT
min v, γ = min |vR |, γR , min |vL |, γL .
A. Expressing the Tracking Errors
where sign(χi ) is the sign function of χi .
Let OXY and MXY be the global and body frame, respec-
If |ui | < ai , i.e., the input of the i-th faulted actuator stays
tively, as can be seen in Fig. 5. Target D’s coordination vector,
on the inside of the dead zone, then the actuator does not work
thus, is expressed in the body frame MXY as follows:
to control the WMR. Hence, this situation is not considered
in this paper. Otherwise, (6) can be shown in terms of vector     
ζ1 cos θ sin θ xD − xM
as follows: ζ= = (9)
ζ2 − sin θ cos θ yD − yM
v = diag(ρ)u − diag(ρ)diag(a)sign(u). (7)


Taking the first order derivative of (9) leads to the following
τ = diag sign v min v, γ . (8)
equation:
Assumption 1: The effective gains ρi and the break-point   
gains ai all are bounded as follows: − sin θ cos θ xD − xM
ζ̇ =ω
− cos θ − sin θ yD − yM
0 < ρ ≤ ρi ≤ ρ < 1, 
cos θ

sin θ ẋD − ẋM

+ (10)
0 < a ≤ ai ≤ a. − sin θ cos θ ẏD − ẏM
where ρ, ρ, a, a are known scalar constants.
Taking the second order derivative of (9) with respect to
III. ADAPTIVE TRACKING FAULT-TOLERANT time yields the following equation:
CONTROLLER   
2 − sin θ cos θ ẋD − ẋM
The objective of this section is to design a novel fault- ζ̈ = − ζω + 2ω
− cos θ − sin θ ẏD − ẏM
tolerant controller such that point P (xP , yP ) asymptotically       
tracks the target D(xD , yD ), which is depicted in Fig. 5. cos θ sin θ ẍD ζ2 v̇
+ + ω̇ −
− sin θ cos θ ÿD −ζ1 vω
Remark 1: Due to point P being used to pick products up,
its position is taken into account rather than point M. =H φ̇ + ξ (11)

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 Proceedings of 2023 International Conference on System Science and Engineering (ICSSE)

where estimation matrix Q̂ can be employed in this work. Let Q̃ be

  
2 − sin θ cos θ ẋD − ẋM the estimation error in the following manner:
ξ = − ζω + 2ω
− cos θ − sin θ ẏD − ẏM
     Q = Q̃ + Q̂. (17)
cos θ sin θ ẍD 0
+ − , Substituting the above equation into (15) results in the
− sin θ cos θ ÿD vω
following expression:
and, 

ζ
r ζ r



2 2 ṡ = H Q̂ diag ρ u − diag κ sign u
 b − 1 − +1
2 b 2
H= . 


 ζ1 r ζ1 r  + H Q̂ diag sign(v) min v, γ − v
−
b 2 b 2 + ξ + Λė − L. (18)

ζ1 r 2 where L is the lumped uncertainty defined as follows:

Remark 2: Because of det(H) = − , as long as ζ1 ̸= 0
2b




then H is invertible. L =H Q̃ diag ρ u − diag κ sign u
 
Of course, the coordination of P in the body frame is


+ H Q̃ diag sign(v) min v, γ − v
always unchanged (C, 0), where C is the distance between 

M and P as can be seen in Fig. 5. Consequently, the desired + HQ F φ + τ d . (19)
coordination of D, ζd , in the body frame is that of P, i.e.
ζd = (C, 0). Assumption 2: the lumped uncertainty L always is limited
Let e = ζ − ζd be the tracking error and s be the sliding by a prior known positive constant in the following manner:
variable defined as follows: L ≤ L.
s = ė + Λe (12)
Due to the fact that both ρ and a are unknown in advance,
Substituting (12) into (11) leads to the following equation: so they cannot be used to design the proposed control law.
Instead, their estimation values can be adopted to do it. Let ρ̂
ṡ = H φ̇ + ξ + Λė (13)
and κ̂ be the estimation vectors of ρ and κ, respectively. Their
Alternatively, the substitution of (13) into (4) leads to the estimation errors, thus, are calculated as follows:
following equation:
ρ̃ = ρ − ρ̂, (20)
−1
 
ṡ = HM τ − F (φ) − τ d + ξ + Λė. (14) κ̃ = κ − κ̂, (21)
−1 Hence, the dynamic of the system (18) can be rewritten as
Let Q = M . Next, substituting (8) into the above equation
follows:
yields the equation below: 






 ṡ =H Q̂ diag ρ̂ u + diag ρ̃ u − diag κ sign u
ṡ = HQ diag sign(v) min v, γ − F (φ) − τ d  



+ ξ + Λė + HQ diag sign(v) min v, γ − v
+ ξ + Λė − L. (22)



= HQ v + diag sign(v) min v, γ − v
 
+ ξ + Λė − HQ F (φ) + τ d . (15) The vector of the input signals of the faulted actuators is
chosen as follows:
Substituting (7) into the above equation yields the following: 

χ = −Q̂−1 H −1 − diag ψ ψ + Ks − ξ − Λė − Lsign s


 
ṡ = HQ diag(ρ)u − diag(κ)sign(u) (23)



−1
−1


+ HQ diag sign(v) min v, γ − v u = diag ρ̂ χ + diag ρ̂ diag κ̂ sign χ (24)
 
+ ξ + Λė − HQ F (φ) + τ d . (16) where K is a positive constant chosen arbitrarily, ψ is an
auxiliary variable employed in order to compensate for the
where κ is utilized in order to show the multiplication of two saturation issue of the actuators.
diagonal matrices as follows:
Remark 3: Lsign(s) is a robust component causing chat-
tering phenomenon. To specify, it is used in (23) to tackle




diag κ = diag ρ diag a .
the lumped uncertainty L in (19) rather than the actuator
Next, it is impossible to get prior knowledge of the dynamic faults. As mentioned before, despite of belonging to the passive
model of the WMR. As a consequence, matrix Q cannot trend, the proposed FTC method does not still use a robust
be employed to design the proposed controller. Instead, its component to overcome actuator faults at all.

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 Proceedings of 2023 International Conference on System Science and Engineering (ICSSE)

Since both the actual effective gain ρ and break-point gain

change very slowly, their derivatives are equal to zero , i.e.,
both ρ̃˙ = −ρ̂˙ and κ̃˙ = −κ̂˙ hold (see (20) and (21)). As a
result, substituting (25) into (30) and further noting (26) and
(27) leads to the following result:
V̇ = − sT Ks − sT Lsign s − sT L + sT diag ψ ψ



 
+ sT H Q̂ diag sign(v) min v, γ − v

Fig. 6. The scheme of the proposed control method.

+ sT diag ρ̃ u − sT diag κ̃ sign χ

− ρ̃T diag s u + κ̃T diag s sign(χ) + ψ T ψ̇.

(31)
It is significant to note that both diag ρ̂ and κ̂ are
the

It is obvious that sT sign s = |s1 | + |s2 | ≥ ∥s∥, so based
diagonal matrices of positive scalars. Therefore, diag ρ̂ is
on Assumption 2, we obtain the following inequality:
invertible and every element of u is the same sign as the
V̇ ≤ − sT Ks + sT diag ψ ψ + ψ T ψ̇


corresponding element of χ, i.e., sign(u) = sign(χ).
 
Substituting (24) and then (23) into (22) as well as noting + sT H Q̂ diag sign(v) min v, γ − v



sign(u) = sign(χ) yield the following result:
+ sT diag ρ̃ u − ρ̃T diag s u







ṡ = −Ks + diag ψ ψ − Lsign s + H Q̂diag ρ̃ u
− sT diag κ̃ sign χ + κ̃T diag s sign χ







 (32)
+ H Q̂ diag sign(v) min v, γ − v


Substituting (28) into the above equation yields the following:
− H Q̂diag κ̃ sign χ − L. (25) V̇ ≤ − sT Ks + sT diag ψ ψ − ψ T diag s ψ − ψ T Γψ

For the evolution of both ρ̂ and κ̂, the following adaptive − sT H Q̂ diag sign(u) min u, γ − u



laws are proposed to ensure the stability of the entire control
system: + sT H Q̂ diag sign(v) min v, γ − v

ρ̂˙ = αH Q̂diag s u,


(26) + sT diag ρ̃ u − ρ̃T diag s u



˙κ̂ = −βH Q̂diag s sign(χ).


− sT diag κ̃ sign χ + κ̃T diag s sign χ .





(27) (33)
where α and β are positive constants selected arbitrarily. Furthermore, it is undoubted that the three following equa-
If ∥ψ∥ ≥ ϵ with ϵ being a positive small constant, then tions and one inequality hold:
sT diag ρ̃ = ρ̃T diag s ,



ψ̇ = − Γψ − diag(s)ψ (34)
sT diag κ̃ = κ̃T diag s ,



ψ (35)
sT H Q̂ diag sign(u) min u, γ − u



− 2
(28)
∥ψ∥ sT diag ψ = ψ T diag s ,



(36)
where Γ is a positive-definite constant matrix.


diag sign(u) min u, γ − u ≥
Otherwise,


diag sign(v) min v, γ − v . (37)
ψ̇ = 0
Substituting the equations and inequality into (32) yields
Theorem 1: For tracking a reference trajectory, given the the following result:
dynamic model of a WMR under partial-loss-of-effectiveness
fault and dead zone (18), the tracking errors will asymptoti- V̇ ≤ − sT Ks − ψ T Γψ. (38)
cally converge to zero as long as the proposed control scheme Applying the LaSalle invariant set theorem, we can draw
as Fig. 6 is applied where the input signals of the faulted the conclusion that s converges to zero asymptotically.
actuators and the adaptive laws are proposed as (24), (26)-
The proof finishes here.
(27), and (28), respectively.
Proof: Let us choose a candidate Lyapunov function as IV. SIMULATION
follows: In this section, one WMR is employed to simulate the
1 1 T 1 T 1 proposed FTC method. The dynamic and kinematic gains of
V = sT s + ρ̃ ρ̃ + κ̃ κ̃ + ψ T ψ. (29)
2 2α 2β 2 this WMR are shown in Table. 1.
Taking the derivative of the above equation yields the The parameters of the controller are chosen as follows:
   
following result: 15 0 6 0
K= , Λ= , Γ = Υ = 0.25,
1 1 0 15 0 6
V̇ =sT ṡ + ρ̃T ρ̃˙ + κ̃T κ̃˙ + ψ T ψ̇. (30) ρ = 1, ρ = 0.5, a = 10, a = 0.
α β

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 Proceedings of 2023 International Conference on System Science and Engineering (ICSSE)

0.8 0.8
Desired Trajectory Desired trajectory
0.6 Actual Tracjectory 0.6 Actual trajectory

0.4 0.4

Y axis (m)
Y axis (m)

0.2 0.2

0 0

-0.2 -0.2

-0.4 -0.4
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
X axis (m) X axis (m)

Fig. 7. Trajectories in the floor with the proposed FTC method. Fig. 9. Trajectories in the floor without the proposed FTC method.

0.6 0.6
e1 e1
e2 e2

Tracking errors (m)

Tracking error (m)

0.4 0.4

0.2 0.2

0 0

-0.2 -0.2
0 2 4 6 8 10 0 2 4 6 8 10
Time (s) Time (s)

Fig. 8. The evolution of the tracking errors with the proposed FTC method. Fig. 10. The evolution of the tracking errors without the proposed FTC
method.

The initial values are assumed to be as follows: xM (0) =

yM (0) = 0, θ(0) = 0, ρ̂R (0) = ρ̂L (0) = 1, âR (0) = âL (0) = V. CONCLUSION
3.0.
This paper highlights the proposed adaptive fault-tolerant
The simulation problem requires point P track to D that is
control method for a wheeled mobile robot to track a reference
described as follows:
    trajectory under actuator faults and dead zones. The rightness
xD 1.75 − cos(0.1πt) has been proven via Lypunov criterion. The simulation re-
= (m) (39)
yD −0.25 + sin(0.1πt) sults have validated the merit and efficiency of the proposed
method.
The simulation results are depicted in Fig. 7, and Fig.
8. The actual trajectory tracked the desired one with the
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