Backstepping Adaptive Fault-tolerant Control for a Vehicle Driving Robot System with Actuator Failures

We propose an adaptive fault-tolerant control method for uncertain faults that may occur in mechanical leg actuators. First, we design a basic nonlinear controller based on backstepping. Then, we design an adaptive controller to compensate for the faults and suppress the disturbances of the mechanical leg control system so that the mechanical leg can still rotate to the desired position in the case of failure, and then realize the tracking control of the speed. Finally, by building a Simulink simulation model, it is proven that the proposed fault compensation control algorithm can achieve the desired control objectives and improve the safety and reliability of vehicles in the driving process.