Volume 42 Issue 7
Aug 2022
Turn off MathJax
Article Contents
JOURNAL OF MECHANICAL ENGINEERING  > 2022  >  42(7): 723-732.
XIA Qiu, CHEN Long, XU Xing, CAI Yingfeng, CHEN Te, WU Xiaohan. Fault Estimation Based Fault-Tolerant Control Method for Unmanned Vehicle[J]. JOURNAL OF MECHANICAL ENGINEERING, 2022, 42(7): 723-732. doi: 10.15918/j.tbit1001-0645.2021.161
Citation: XIA Qiu, CHEN Long, XU Xing, CAI Yingfeng, CHEN Te, WU Xiaohan. Fault Estimation Based Fault-Tolerant Control Method for Unmanned Vehicle[J]. JOURNAL OF MECHANICAL ENGINEERING, 2022, 42(7): 723-732. doi: 10.15918/j.tbit1001-0645.2021.161
shu

Fault Estimation Based Fault-Tolerant Control Method for Unmanned Vehicle

doi: 10.15918/j.tbit1001-0645.2021.161
  • 1.

    Automotive Engineering Research Institute, Jiangsu University, Zhenjiang , Jiangsu 212000, China

  • 2.

    School of Mechanical and Electrical Engineering, Chuzhou University, Chuzhou, Anhui 239000, China

  • Received Date: 17 Jun 2021
  • Issue Publish Date: 17 Aug 2022
    Abstract
  • In order to improve the reliability of unmanned-vehicle control system, a fault-tolerant control method was proposed for unmanned vehicle path following, considering the influence of both steering control system fault and unknown disturbance on path-tracking effect of unmanned vehicle. Firstly, analyzing the input fault of steering control system and characterizing nominal fault from the unknown system interference, a mathematical model was established. And then, a differential equation of nominal fault was constructed with a high-order sliding mode observer, and the estimation method of vehicle sideslip angle and nominal fault was designed based on adaptive cubature Kalman filter, providing reliable information source for fault-tolerant control of unmanned vehicle. Finally, a fault-tolerant controller was designed based on sliding mode control method for path following of unmanned vehicle to prove its convergence. The results of co-simulation and hardware in the loop test show that, the proposed estimation method can get accurate and reliable estimation results of vehicle sideslip angle and nominal fault, and compared with no fault-tolerant control, the designed fault-tolerant path following controller can significantly improve the control performance of vehicle in the face of fault and interference, and at the same time ensure the path following ability and its own stability of vehicle.

     

    • FullText(HTML)
  • loading
    • References(15)
  • [1]
    TAN D K, CHEN W W, WANG H B. On the use of Monte-Carlo simulation and deep fourier neural network in lane departure warning[J]. IEEE Intelligent Transportation Systems Magazine, 2017:76 − 90.
    [2]
    CHEN T, XU X, CHEN L, et al. Estimation of longitudinal force, lateral vehicle speed and yaw rate for four-wheel independent driven electric vehicles[J]. Mech Syst Signal Process, 2018, 101:377 − 388. doi: 10.1016/j.ymssp.2017.08.041
    [3]
    金辉, 丁峰. 智能车辆换道行驶的经济车速研究[J]. 汽车工程, 2018, 40(5):542 − 546.

    JIN Hui, DING Feng. A study on economic speed in lane-change maneuvers of intelligent vehicles[J]. Automotive Engineering, 2018, 40(5):542 − 546. (in Chinese)
    [4]
    江浩斌, 李臣旭, 马世典, 等. 智能车辆自动泊车路径跟踪的非光滑控制策略[J]. 江苏大学学报(自然科学版), 2017, 38(5):497 − 502.

    JIANG Haobin, LI Chenxu, MA Shidian, et al. Path tracking control of automatic parking for intelligent vehicle based on non-smooth control strategy[J]. Journal of Jiangsu University(Natural Science Edition), 2017, 38(5):497 − 502. (in Chinese)
    [5]
    CHEN T, XU X, Li Y, et al. Speed-dependent coordinated control of differential and assisted steering for in-wheel motor driven electric vehicles[J]. Proc IMech E Part D:J Automobile Engineering, 2018, 232(9):1206 − 1220. doi: 10.1177/0954407017728189
    [6]
    CAI J Y, JIANG H B, Chen L, et al. Implementation and development of a trajectory tracking control system for intelligent vehicle[J]. J Intell Robot syst, 2019, 94(1):251 − 264. doi: 10.1007/s10846-018-0834-4
    [7]
    BEHROOZ M, POUYAN A, MAJID M, et al. Integrated robust controller for vehicle path following[J]. Multibody System Dynamics, 2015, 33(2):207 − 228. doi: 10.1007/s11044-014-9409-8
    [8]
    GUO J H, LUO Y G, LI K Q. Integrated adaptive dynamic surface car-following control for nonholonomic autonomous electric vehicles[J]. Science China Technological Sciences, 2017, 8:1 − 10.
    [9]
    LI B Y, DU H P, LI W H. Fault-tolerant control of electric vehicles with in-wheel motors using actuator-grouping sliding mode controllers[J]. Mech Syst Signal Process, 2016, 72-73:462 − 485. doi: 10.1016/j.ymssp.2015.11.020
    [10]
    GUO J H, WANG J, HU P, et al. Robust guaranteed-cost path-following control for autonomous vehicles on unstructured roads. Proc IMechE Part D: J Automobile Engineering, 2018, 232(7): 896-908.
    [11]
    HU C, WANG R R, YAN F J, et al. Output constraint control on path following of four-wheel independently actuated autonomous ground vehicles[J]. IEEE Trans Veh Technol, 2016, 65(6):4033 − 4043. doi: 10.1109/TVT.2015.2472975
    [12]
    CHEN T, CHEN L, XU X, et al. Passive fault-tolerant path following control of autonomous distributed drive electric vehicle considering steering system fault[J]. Mech Syst Signal Process, 2019, 123:298 − 315. doi: 10.1016/j.ymssp.2019.01.019
    [13]
    NI J, HU J B, XIANG C L. Envelope control for four-wheel independently actuated autonomous ground vehicle through AFS/DYC integrated control[J]. IEEE Trans Veh Technol, 2017, 66(11):9712 − 9726. doi: 10.1109/TVT.2017.2723418
    [14]
    江浩斌, 曹福贵, 朱畏畏. 基于滑模控制的智能车辆集群运动控制方法[J]. 江苏大学学报:自然科学版, 2018, 39(4):385 − 390.

    JIANG Haobin, CAO Fugui, ZHU Weiwei. Control method of intelligent vehicles cluster motion based on SMC[J]. Journal of Jiangsu University(Natural Science Edition), 2018, 39(4):385 − 390. (in Chinese)
    [15]
    徐兴, 卢山峰, 陈龙, 等. 基于差动和自主转向协调的分布式驱动无人车轨迹跟踪[J]. 汽车工程, 2018, 40(4):475 − 481.

    XU Xing, LU Shanfeng, CHEN Long, et al. Trajectory tracking of distributed-drive self-driving vehicle based on coordination between autonomous steering and differential steering[J]. Automotive Engineering, 2018, 40(4):475 − 481. (in Chinese)
    • Relative Articles
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    Figures(12)  / Tables(1)

    Get Citation
    PDF
    XML

    Article Metrics

    Article views(114) PDF downloads(0) Cited by()
    Proportional views
    Related

    Copyright © 2009《 石油钻探技术 》 All Rights Reserved.

    Address：North-Star Times Tower, No.8 Beichendong Road, Chaoyang District, Beijing, China China Pos：100101

    Tel：010-84988317，84988356，84988357 Fax：021-64253812 Email：syzt@vip.163.com

    Beijing public network security equipment 11010502036328　Beijing ICP backup 17033152

    Supported by: Beijing Renhe Information Technology Co., Ltd.  

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return