{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,25]],"date-time":"2025-12-25T07:26:20Z","timestamp":1766647580707,"version":"3.38.0"},"reference-count":27,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2018,6,6]],"date-time":"2018-06-06T00:00:00Z","timestamp":1528243200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/100007458","name":"Qatar Foundation","doi-asserted-by":"publisher","award":["NPRP 5 - 045 -02-017"],"award-info":[{"award-number":["NPRP 5 - 045 -02-017"]}],"id":[{"id":"10.13039\/100007458","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2018,7]]},"abstract":"<jats:p> In this article, an actuator fault-tolerant control scheme is proposed for differential-drive mobile robots based on the concept of multiple-model approach. The nonlinear kinematic model of the differential-drive mobile robot is discretized and a bank of extended Kalman filters is designed to detect, isolate, and identify actuator faults. A fault-tolerant controller is then developed based on the detected fault to accommodate its effect on the trajectory-tracking performance of the mobile robot. Extensive experimental results are presented to demonstrate the efficacy of the proposed fault-tolerant control approach. <\/jats:p>","DOI":"10.1177\/0959651818779849","type":"journal-article","created":{"date-parts":[[2018,6,7]],"date-time":"2018-06-07T06:14:57Z","timestamp":1528352097000},"page":"652-661","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":10,"title":["Design and real-time implementation of actuator fault-tolerant control for differential-drive mobile robots based on multiple-model approach"],"prefix":"10.1177","volume":"232","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1430-3937","authenticated-orcid":false,"given":"Parisa","family":"Yazdjerdi","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Qatar University, Doha, Qatar"}]},{"given":"Nader","family":"Meskin","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Qatar University, Doha, Qatar"}]}],"member":"179","published-online":{"date-parts":[[2018,6,6]]},"reference":[{"key":"bibr1-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)34302-1"},{"key":"bibr2-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1016\/j.proeng.2012.07.294"},{"volume-title":"Introduction to mobile robot control","year":"2014","author":"Tzafestas S","key":"bibr3-0959651818779849"},{"key":"bibr4-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-4799-2"},{"key":"bibr5-0959651818779849","first-page":"2223","volume-title":"1998 IEEE international conference on robotics and automation, 1998 proceedings","volume":"3","author":"Roumeliotis S"},{"key":"bibr6-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2004.1337829"},{"first-page":"1","volume-title":"2006 14th Mediterranean conference on control and automation","author":"Monteriu A","key":"bibr7-0959651818779849"},{"first-page":"3781","volume-title":"Proceedings 2006 IEEE international conference on robotics and automation","author":"Sundvall P","key":"bibr8-0959651818779849"},{"key":"bibr9-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-014-0294-y"},{"key":"bibr10-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1007\/s11633-007-0177-2"},{"first-page":"3720","volume-title":"2014 IEEE\/RSJ international conference on intelligent robots and systems","author":"Millard A","key":"bibr11-0959651818779849"},{"key":"bibr12-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9475-7"},{"key":"bibr13-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2015.06.050"},{"key":"bibr14-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2003.812823"},{"issue":"4","key":"bibr15-0959651818779849","first-page":"11","volume":"2","author":"Srebro A","year":"2011","journal-title":"Chall Mod Technol"},{"first-page":"6306","volume-title":"2015 IEEE 54th annual conference on decision and control (CDC)","author":"Chang YH","key":"bibr16-0959651818779849"},{"first-page":"7","volume-title":"2016 3rd conference on control and fault-tolerant systems (SysTol)","author":"Stancu A","key":"bibr17-0959651818779849"},{"first-page":"1","volume-title":"2015 12th international multi-conference on systems, signals & devices (SSD)","author":"Olfa H","key":"bibr18-0959651818779849"},{"key":"bibr19-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1007\/s10958-007-0496-4"},{"key":"bibr20-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900208"},{"first-page":"1","volume-title":"2009 6th international symposium on mechatronics and its applications","author":"Hassanzadeh I","key":"bibr21-0959651818779849"},{"key":"bibr22-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-45000-9_8"},{"key":"bibr23-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1115\/1.4004152"},{"key":"bibr24-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2011.2177981"},{"first-page":"4717","volume-title":"2013 American control conference","author":"Pourbabaee B","key":"bibr25-0959651818779849"},{"key":"bibr26-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2015.2480003"},{"key":"bibr27-0959651818779849","doi-asserted-by":"publisher","DOI":"10.1590\/S0104-66322008000400015"}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651818779849","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0959651818779849","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651818779849","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,3]],"date-time":"2025-03-03T17:39:50Z","timestamp":1741023590000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0959651818779849"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,6,6]]},"references-count":27,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2018,7]]}},"alternative-id":["10.1177\/0959651818779849"],"URL":"https:\/\/doi.org\/10.1177\/0959651818779849","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"type":"print","value":"0959-6518"},{"type":"electronic","value":"2041-3041"}],"subject":[],"published":{"date-parts":[[2018,6,6]]}}}