Fault Identification in Mobile Robot Groups Using Sliding Mode Observers

Abstract The paper studies the emerging trends in advanced computing and information technology for efficient solutions of fault identification problem for mobile robot groups under the unmatched disturbances. The sliding mode observers are considered for mentioned problem solution. It facilitates the concept of Smart everything inside the considered robotic group during its generalized control: smart surrounding sensing, communication, processing, and scanned data storing. The suggested novel approach to sliding mode observer design is based on obtaining the reduced order model of the initial system. This allows reduce the complexity of sliding mode observer and relax restrictions imposed on the initial system.