Active fault-tolerant control system design with trajectory re-planning against actuator faults and saturation: Application to a quadrotor unmanned aerial vehicle

2013 ◽  
Vol 29 (1) ◽  
pp. 1-23 ◽  
Author(s):  
A. Chamseddine ◽  
D. Theilliol ◽  
Y.M. Zhang ◽  
C. Join ◽  
C.A. Rabbath
Keyword(s):  
Control System ◽  
System Design ◽  
Unmanned Aerial Vehicle ◽  
Active Fault ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Control System Design ◽  
Actuator Faults ◽  
Aerial Vehicle ◽  
Active Fault Tolerant Control

scholarly journals Active Fault-Tolerant Control Based on Multiple Input Multiple Output-Model Free Adaptive Control for Four Wheel Independently Driven Electric Vehicle Drive System

2019 ◽  
Vol 9 (2) ◽  
pp. 276 ◽  
Author(s):  
Yugong Luo ◽  
Yun Hu ◽  
Fachao Jiang ◽  
Rui Chen ◽  
Yongsheng Wang
Keyword(s):  
Control System ◽  
Active Fault ◽  
Control Method ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Drive System ◽  
Input Output ◽  
Vehicle Model ◽  
Model Free ◽  
Active Fault Tolerant Control

To solve the problems with the existing active fault-tolerant control system, which does not consider the cooperative control of the drive system and steering system or accurately relies on the vehicle model when one or more motors fail, a multi-input and multi-output model-free adaptive active fault-tolerant control method for four-wheel independently driven electric vehicles is proposed. The method, which only uses the input/output data of the vehicle in the control system design, is based on a new dynamic linearization technique with a pseudo-partial derivative, aimed at solving the complex and nonlinear issues of the vehicle model. The desired control objectives can be achieved by the coordinated adaptive fault-tolerant control of the drive and steering systems under different failure conditions of the drive system. The error convergence and input-output boundedness of the control system are proven by means of stability analysis. Finally, simulations and further experiments are carried out to validate the effectiveness and real-time response of the fault-tolerant system in different driving scenarios. The results demonstrate that our proposed approach can maintain the longitudinal speed error (within 3%) and lateral stability, thereby improving the safety of the vehicles.

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