Model-Independent Adaptive Fault-Tolerant Output Tracking Control of 4WS4WD Road Vehicles
| العنوان: | Model-Independent Adaptive Fault-Tolerant Output Tracking Control of 4WS4WD Road Vehicles |
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| المؤلفون: | He-Nan Chen, Yongduan Song, Dong Huang, Dan-Yong Li |
| المصدر: | IEEE Transactions on Intelligent Transportation Systems. 14:169-179 |
| بيانات النشر: | Institute of Electrical and Electronics Engineers (IEEE), 2013. |
| سنة النشر: | 2013 |
| مصطلحات موضوعية: | Engineering, Adaptive control, Control algorithm, business.industry, Mechanical Engineering, Path tracking, Control engineering, Fault tolerance, Computer Science Applications, Vehicle dynamics, Control theory, Automotive Engineering, Motion planning, Four-wheel drive, Actuator, business |
| الوصف: | 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 and 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 bound on actuator failure variables. 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. |
| تدمد: | 1558-0016 1524-9050 |
| DOI: | 10.1109/tits.2012.2211016 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_________::88170a7a00c76db8dc0af500e3ccc2d1 https://doi.org/10.1109/tits.2012.2211016 |
| Rights: | CLOSED |
| رقم الانضمام: | edsair.doi...........88170a7a00c76db8dc0af500e3ccc2d1 |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 15580016 15249050 |
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| DOI: | 10.1109/tits.2012.2211016 |