{"title":"通过自适应控制分配提高自动超驱动车辆执行器容错性","authors":"A. Casavola, E. Garone","doi":"10.1109/ISMA.2008.4648851","DOIUrl":null,"url":null,"abstract":"This paper presents an adaptive actuator allocation scheme that is fault-tolerant with respect to actuator faults and loss of effectiveness. The main idea is to use an ad-hoc online parameter estimator coupled with an allocation algorithm to perform on-line control reconfiguration whenever necessary. A preliminary algorithm is proposed for nonlinear discrete-time systems. Its main properties are summarized in the disturbance-free case and its effectiveness shown by means of two numerical examples, the second one dealing with driving/braking loss of effectiveness due to tire/surface contact force variations in 4WS4WD terrestrial vehicles.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"528 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"10","resultStr":"{\"title\":\"Enhancing the actuator fault tolerance in autonomous overactuated vehicles via adaptive control allocation\",\"authors\":\"A. Casavola, E. Garone\",\"doi\":\"10.1109/ISMA.2008.4648851\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents an adaptive actuator allocation scheme that is fault-tolerant with respect to actuator faults and loss of effectiveness. The main idea is to use an ad-hoc online parameter estimator coupled with an allocation algorithm to perform on-line control reconfiguration whenever necessary. A preliminary algorithm is proposed for nonlinear discrete-time systems. Its main properties are summarized in the disturbance-free case and its effectiveness shown by means of two numerical examples, the second one dealing with driving/braking loss of effectiveness due to tire/surface contact force variations in 4WS4WD terrestrial vehicles.\",\"PeriodicalId\":350202,\"journal\":{\"name\":\"2008 5th International Symposium on Mechatronics and Its Applications\",\"volume\":\"528 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2008-05-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"10\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2008 5th International Symposium on Mechatronics and Its Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISMA.2008.4648851\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2008 5th International Symposium on Mechatronics and Its Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISMA.2008.4648851","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Enhancing the actuator fault tolerance in autonomous overactuated vehicles via adaptive control allocation
This paper presents an adaptive actuator allocation scheme that is fault-tolerant with respect to actuator faults and loss of effectiveness. The main idea is to use an ad-hoc online parameter estimator coupled with an allocation algorithm to perform on-line control reconfiguration whenever necessary. A preliminary algorithm is proposed for nonlinear discrete-time systems. Its main properties are summarized in the disturbance-free case and its effectiveness shown by means of two numerical examples, the second one dealing with driving/braking loss of effectiveness due to tire/surface contact force variations in 4WS4WD terrestrial vehicles.
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