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A Fault-Tolerant Integrated Vehicle Stability Control Using Adaptive Control Allocation

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Document pages: 15 pages

Abstract: The focus of this paper is an integrated, fault-tolerant vehicle supervisorycontrol algorithm for the overall stability of ground vehicles. Vehicle controlsystems contain many sensors and actuators that can communicate with each otherover communication networks. The proposed supervisory control scheme iscomposed of a high-level controller that creates a virtual control input vectorand a low-level control allocator that distributes the virtual control effortamong redundant actuators. Virtual control input incorporates the requiredtraction force, yaw, pitch, and roll moment corrections, and the lateral forcecorrection to ensure stability while following a maneuvering referenceinitiated by the driver. Based on the virtual control input vector, theallocation module determines front steering angle correction, rear steeringangle, traction forces at each tire, and active suspension forces. The proposedcontrol framework distinguishes itself from earlier results in the literatureby its ability to adapt to failures and uncertainties by updating itsparameters online, without the need for fault identification. The controlstructure is validated in the simulation environment using a fourteen degree offreedom nonlinear vehicle model. Our results demonstrate that the proposedapproach ensures that the vehicle follows references created by the driverdespite the loss of actuator effectiveness up to 30 higher longitudinalmaneuver velocity and approximately 35 lower roll and pitch angles duringsteering with representative driving scenarios.

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