Title :
Reconfigurable fault-tolerant control of a vehicle with a steer-by-wire system
Author :
Wada, Nobutaka ; Fujii, Kosuke ; Saeki, Masami
Author_Institution :
Dept. of Mech. Syst. Eng., Hiroshima Univ., Higashi-Hiroshima, Japan
Abstract :
In this paper, a synthesis method of a reconfigurable fault-tolerant control system for a steer-by-wire vehicle is proposed. The proposed control law consists of a linear feedback control law and a control allocator based on online optimization. It is shown that the input-output property of the control allocator can be regarded as a sector bounded nonlinearity. Based on this fact, a design method of a controller that guarantees stability of the overall system is proposed. The effectiveness of the method is shown through numerical examples.
Keywords :
control nonlinearities; control system synthesis; fault tolerance; feedback; linear systems; numerical analysis; optimisation; stability; steering systems; vehicle dynamics; control allocator; controller design method; electrical wires; input-output property; linear feedback control law; mechanical transmission components; online optimization; optical wires; reconfigurable fault-tolerant control system; sector bounded nonlinearity; steer-by-wire system; steer-by-wire vehicle; synthesis method; x-by-wire; Design methodology; Feedforward neural networks; Optimization;
Conference_Titel :
Advanced Mechatronic Systems (ICAMechS), 2012 International Conference on
Conference_Location :
Tokyo
Print_ISBN :
978-1-4673-1962-1
