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Thanh Tri Nguyen
Vinh University
Electrical & Electronics Engineering

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Fault-tolerant trajectory tracking of mobile robots via model-free intelligent PID and fault observer Sy Phuong Ho; Manh Tien Ngo; Duy Tan Ngo; Dinh Tu Duong; Van Du Phan; Kim Duyen Ha Thi; Thanh Tri Nguyen; Minh Dang Dau; Thu Uyen Le Thi
Bulletin of Electrical Engineering and Informatics Vol 15, No 1: February 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v15i1.9884

Abstract

This paper addresses the problem of unexpected errors, such as model uncertainties and actuator faults, that degrade the performance of wheeled mobile robots (WMR). To overcome these challenges, a fault-tolerant control (FTC) approach is developed in which model-free control (MFC) is merged with an intelligent-proportional integral derivative (i-PID) controller and complemented by a fault observer (FO). Unlike existing approaches, the proposed controller does not rely on accurate system modeling; instead, MFC ensures robustness to time-varying parameters, and while i-PID enhances trajectory tracking through adaptive gain adjustment. The FO estimates actuator faults in real time and compensates for their effects, ensuring reliable operation even under severe conditions. The closed-loop stability is rigorously analyzed via Lyapunov theory. MATLAB/Simulink results show reduced tracking errors, improved stability, and strong robustness under both model uncertainties and actuator faults, including time-varying mass and inertia, validating the effectiveness and practical potential of the proposed FTC.
Co-Authors Dinh Tu Duong Duy Tan Ngo Kim Duyen Ha Thi Manh Tien Ngo Minh Dang Dau Sy Phuong Ho Thu Uyen Le Thi Van Du Phan