Research Article
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) |
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