| 제목 |
ADAPTIVE FAULT-TOLERANT CONTROL CONSIDERING THE ACTUATOR FAILURE OF FORKLIFT ANTI-ROLLOVER SYSTEM
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| 분야 |
Chassis |
| 언어 |
English |
| 저자 |
Guang Xia(Hefei University of Technology), Tao Li(Hefei University of Technology), Xiwen Tang(National University of Defense Technology), Yang Zhang(Hefei University of Technology), Linfeng Zhao(Hefei University of Technology) |
| Key Words |
Adaptive fault tolerance, Adaptive law, Counterbalanced forklift truck, T-S fuzzy system |
| 초록 |
An adaptive fault-tolerant anti-rollover fuzzy system is proposed to improve the anti-rollover performance of counterbalanced forklifts. Considering the actual control input, various unpredictable actuator failure models in the system are established. Based on the three degree-of-freedom (DOF) model of a counterbalanced forklift, an anti-rollover Takagi-Sugeno (T-S) fuzzy system is established. The stability of this anti-rollover system is analyzed to ensure its stability under specific control inputs and external disturbances. When the upper limits of actuator faults and disturbances are unknown, an adaptive fault-tolerant control method is designed to update the controller parameters. The sufficient conditions for the stability of the forklift anti-rollover system in the presence of actuator faults and external disturbances are given using the Lyapunov stability theory. Simulation and real vehicle tests based on MATLAB/Simulink show that the anti-rollover system with adaptive fault-tolerant control can reduce impacts effectively and quickly after the actuator fails, thereby improving the safety and reliability of the forklift.
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