Fault-Tolerant Control Strategy for Steering Failures in Wheeled Planetary Rovers

Table 1

Fault repertory summarized.

Index of fault mode	Faulty steering joint(s)	Faulty configurations	Amplitude
F1	Single joint	6	Full range (±90°)
F2	Two joints	15	Full range (±90°)
F3	Three joints	20	Full range (±90°)
F4	Four joints	15	Full range (±90°)
F5	Five joints	6	Full range (±90°)
F6	Six joints	1	Full range (±90°)