NDLI: Linear parameter-varying-based fault-tolerant controller design for a class of over-actuated non-linear systems with applications to electric vehicles

Content Provider	IET Digital Library
Author	Wang, Rongrong Zhang, Hui Wang, Junmin
Abstract	This study presents a passive fault-tolerant (FT) controller to preserve stability of a class of over-actuated non-linear systems in spite of actuator faults. In order to deal with different types of actuator faults, a generalised fault model is adopted such that the FT controller may have the advantage of being able to deal with different types of actuator faults. By grouping the control efforts which have similar effects on the system together, the original over-actuated system can be transferred into a square system, which makes the proposed FT controller has no requirement of the control effort distribution ratios for the actual control effects. The disturbances and uncertainties caused by the actuator faults are attenuated by an FT controller which is designed based on the linear-parameter varying method. The eigenvalue positions of the closed-loop system are constrained into a disk to obtain better transient responses. The proposed FT control method is applied to control a four wheel independently-actuated electric ground vehicle. Experimental results show the effectiveness of the proposed FT control approach.
Starting Page	705
Ending Page	717
Page Count	13
ISSN	17518644
Volume Number	8
e-ISSN	17518652
Issue Number	Issue 9, Jun (2014)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/8/9
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2013.0505
Journal	IET Control Theory & Applications
Publisher Date	2014-04-30
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Actuator Fault Actuators Closed Loop System Control Effort Distribution Ratio Control System Analysis Control System Synthesis Eigen Values And Eigen Function Eigenvalue Positions Electric Vehicle Fault Tolerant Control Four-wheel Independently-actuated Electric Ground Vehicle FT Control Method FT Controller Generalised Fault Model Linear Parameter-varying-based Fault-tolerant Controller Design Linear System Nonlinear Control System Over-actuated Nonlinear System Passive Fault-tolerant Controller Road Traffic System Control Square System Stability Stability in Control Theory Synthesis Method Transient Response Transient Responses Wheels
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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