Fault tolerant control in an unmanned bicycle robot via sliding mode theory

In this work, a new active fault tolerant control (FTC) is developed for an unmanned bicycle robot based on integration between sliding mode (SMC), detection (FD), and estimation (FE) via residual signal. A surface in accordance with the (FTSMC) designed to get multiple exciting features such as fast transient response finite time convergence, small overshoot quick stabilisation presence of actuator fault. To obtain effective performance FTSMC, system employed order attain estimation, extended Kalman filter (EKF) estimator change algorithm called cumulative sum (CUSUM) evaluation function are developed. The innovative proposed approach, that verified when compared other up-to-date techniques like model-based predictive feedback linearisation (FTMPC + FBL) linear quadratic regulator (FTLQR robot.