带有执行器故障汽车驾驶机器人反步自适应容错控制

Backstepping Adaptive Fault-tolerant Control for a Vehicle Driving Robot System with Actuator Failures

  • 摘要: 针对机械腿执行器可能发生的不确定故障,提出了一种自适应容错控制方法。首先基于反步设计基本非线性控制器;然后设计自适应控制器对机械腿控制系统进行故障补偿和扰动抑制,使机械腿在发生故障的情况下仍能旋转到期望位置,进而实现对车速的跟踪控制。最后通过搭建Simulink仿真模型,证明所提的故障补偿控制算法能实现期望的控制目标提高汽车行驶过程中的安全性和可靠性。

     

    Abstract: We propose an adaptive fault-tolerant control method for uncertain faults that may occur in mechanical leg actuators. First, we design a basic nonlinear controller based on backstepping. Then, we design an adaptive controller to compensate for the faults and suppress the disturbances of the mechanical leg control system so that the mechanical leg can still rotate to the desired position in the case of failure, and then realize the tracking control of the speed. Finally, by building a Simulink simulation model, it is proven that the proposed fault compensation control algorithm can achieve the desired control objectives and improve the safety and reliability of vehicles in the driving process.

     

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