Adaptive Fault-tolerant Tracking Control of 4WS4WD Road Vehicles: A Fully Model-independent Solution

摘要：

This paper investigates the path tracking control problem of four-wheel-steering and four-wheel-driving (4WS4WD) road vehicles. Of particular interest is the development of an adaptive and fault-tolerant tracking control scheme capable of compensating vehicle uncertain dynamics/disturbances as well as actuation failures simultaneously. Control algorithms are derived without requiring detail system dynamic information. The control scheme is shown to be effective in coping with unexpected actuation faults without the need for analytically estimating the bound on actuator failure variables or other uncertainties. The proposed method is validated and demonstrated through its application to a wheeled vehicle with four steering wheels and four driving wheels, where high precision path tracking is achieved in the face of steering faults.

关键词： Fault-Tolerant Control Actuator Failures Highway Vehicle Path Tracking

作者: LI DanYong SONG YongDuan

作者单位: Center for Intelligent Systems and Renewable Energy, Beijing Jiaotong University, Beijing 100044

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 485-492

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）