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

Table 2

Characteristics of injected fault modes.

Fault mode	Fault configuration	Amplitude
F1	Rear-left wheel	−74°
F2	Rear left and rear right	−24° (rear left) and −38° (rear right)
F3	rear left, rear right, and middle left	−24° (rear left), −10° (middle left), and −38° (rear right)