Title :
Enhancing the actuator fault tolerance in autonomous overactuated vehicles via adaptive control allocation
Author :
Casavola, Alessandro ; Garone, Emanuele
Author_Institution :
Dipt. di Elettron., Univ. degli Studi della Calabria, Rende
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.
Keywords :
adaptive control; discrete time systems; fault tolerance; nonlinear control systems; optimal control; remotely operated vehicles; actuator fault tolerance; adaptive control allocation; adhoc online parameter estimator; autonomous overactuated vehicles; nonlinear discrete-time systems; Actuators; Adaptive control; Control systems; Fault tolerance; Mobile robots; Optimal control; Programmable control; Redundancy; Remotely operated vehicles; Vehicle safety;
Conference_Titel :
Mechatronics and Its Applications, 2008. ISMA 2008. 5th International Symposium on
Conference_Location :
Amman
Print_ISBN :
978-1-4244-2033-9
Electronic_ISBN :
978-1-4244-2034-6
DOI :
10.1109/ISMA.2008.4648851
