scholarly journals Actuator fault-based integrated control for vehicle chassis system

2020 ◽  
pp. 002029402097757
Author(s):  
Jinwei Sun ◽  
Jingyu Cong ◽  
Weihua Zhao ◽  
Yonghui Zhang
Keyword(s):  
Performance Enhancement ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Integrated Control ◽  
Stability Control ◽  
Actuator Fault ◽  
Roll Moment ◽  
Fault Reconstruction ◽  
Driving Conditions ◽  
Vehicle Chassis

An integrated fault tolerant controller is proposed for vehicle chassis system. Based on the coupled characteristics of vertical and lateral system, the fault tolerant controller mainly concentrates on the cooperative control of controllable suspension and lateral system with external disturbances and actuator faults. A nine-DOF coupled model is developed for fault reconstruction and accurate control. Firstly, a fault reconstruction mechanism based on sliding mode is introduced; when the sliding mode achieves, actuator fault signals can be observed exactly through selecting appropriate gain matrix and equivalent output injection term. Secondly, an active suspension controller, a roll moment controller and a stability controller is developed respectively; the integrated control strategy is applied to the system under different driving conditions: when the car is traveling straightly, the main purpose of the integrated strategy is to improve the vertical performance; the lateral controller including roll moment control and stability control will be triggered when there is a steering angle input. Simulations experiments verify the performance enhancement and stability of the proposed controller under three different driving conditions.

scholarly journals Fixed-Time Sliding-Mode Fault-Tolerant Control of Waste Heat Power Generator Systems

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Zhi Wang ◽  
Yateng Bai ◽  
Jin Xie ◽  
Zhijie Li ◽  
Caoyuan Ma ◽  
...  
Keyword(s):  
Fault Tolerant ◽  
Waste Heat ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Tracking Error ◽  
Fixed Time ◽  
Fault Estimation ◽  
Actuator Fault ◽  
Heat Power ◽  
Time Control

In order to overcome disturbances such as the instability of internal parameters or the actuator fault, the time-varying proportional-integral sliding-mode surface is defined for coordinated control of the excitation generator and the steam valve of waste heat power generation units, and a controller based on sliding-mode function is designed which makes the system stable for a limited time and gives it good performance. Based on this, a corresponding fault estimation law is designed for specific faults of systems, and a sliding-mode fault-tolerant controller is constructed based on the fixed-time control theory so that the systems can still operate stably when an actuator fault occurs and have acceptable performance. The simulation results show that the tracking error asymptotically tends to be zero, and the fixed-time sliding-mode fault-tolerant controller can obviously improve the dynamic performance of the system.

scholarly journals Robust Adaptive Sliding Mode Fault Tolerant Control for Nonlinear System with Actuator Fault and External Disturbance

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Liang Zheng ◽  
Xuelian Dong ◽  
Qian Luo ◽  
Menglan Zeng ◽  
Xinping Yang ◽  
...  
Keyword(s):  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Actuator Fault ◽  
Estimation Errors ◽  
Adaptive Sliding Mode ◽  
Sliding Motion ◽  
Robust Adaptive

In this paper, an adaptive sliding mode fault tolerant control (ASMFTC) approach is proposed for a class of nonlinear systems with actuator fault, uncertainty, and external disturbance. Specifically, first, a novel observer is proposed to estimate the state, actuator fault, and external disturbance. Then, by utilising the observed information, a novel output sliding mode observer is constructed. In the control method, an adaptive law and two compensators are designed to attenuate the unknown estimation errors, actuator fault, and disturbance. Furthermore, the reaching ability of the sliding motion is analysed and the H-infinite performance is introduced to ensure the robustness of the system. Finally, a flexible single joint manipulator system and a two-cart system are used to verify the effectiveness of the proposed method.

Adaptive Sliding Mode Observer-Based Robust Fault Reconstruction for a Helicopter With Actuator Fault

2015 ◽  
Vol 18 (4) ◽  
pp. 1558-1565 ◽  
Author(s):  
Fuyang Chen ◽  
Kangkang Zhang ◽  
Bin Jiang ◽  
Changyun Wen
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Observer ◽  
Actuator Fault ◽  
Adaptive Sliding Mode ◽  
Fault Reconstruction

Dual-sliding mode approach for separated fault detection and tolerant control for functional safety of longitudinal autonomous driving

2020 ◽  
pp. 095440702096262
Author(s):  
Taejun Song ◽  
Jongmin Lee ◽  
Kwangseok Oh ◽  
Kyongsu Yi
Keyword(s):  
Fault Detection ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Linear Quadratic Regulator ◽  
Fault Tolerant Control ◽  
Autonomous Driving ◽  
Sliding Mode Observer ◽  
Functional Safety ◽  
Linear Quadratic ◽  
Fault Reconstruction

This paper describes model-based separated fault detection and fault tolerant control of longitudinal autonomous driving using dual-sliding mode observer for functional safety. Internal and environment sensors such as camera or radar are required to measure the acceleration information of the subject vehicle and the relative distance and velocity information between the preceding and subject vehicles in longitudinal autonomous driving. In order to detect the independent fault of each sensor, a dual-sliding mode observer (SMO) is used for fault reconstruction under the assumption that V2V (Vehicle to Vehicle) communication for vehicle driving state is available. The each SMO reconstructs the expected fault in sensor based on discontinuous injection term used for converging output error to zero. Based on the reconstructed fault by each SMO, faults are detected using threshold approach. When the fault is detected, the reconstructed fault is used for fault tolerant control by subtracting to faulty data. The proposed fault detection (FD) and fault tolerant control (FTC) algorithms were evaluated using actual driving data and a three-dimensional (3D) vehicle model with a linear quadratic regulator for following control. The evaluation results are presented and analyzed with regard to fault reconstruction, detection, and tolerant control in four cases wherein two types of faults were applied.

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