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Fault Tolerance
Control (FTC) of Mobile Robot in the unstructured
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The uncertainty in the environment means the dynamics of mobile robot
systems are always time-varying. This external factor causes the robot to
show certain trait of behaviors that is similar to the behavior that
caused by certain internal system's faults. The research is focusing on
combining the controllers for the actuator fault (internal) and the wheel
slippage (external) into one single solution/controller under FTC
framework, using model-free technique.
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