This work addresses the design of an active fault-tolerant motion controller for over-actuated road vehicles. Our concept revolves around a control allocation framework, extended with Lyapunov-based stability constraints and costs. Besides the ability to cope with actuator constraints and optimal actuator reconfiguration, the proposed Lyapunov-based control allocation (LCA) allows the graceful degradation of control performance. Theoretical analysis and simulation results demonstrate that, in comparison with classical control allocation, the proposed LCA reduces tracking errors of the motion controller in the aftermath of actuator faults. Experimental tests carried out with the ROboMObil, a robotic electric vehicle prototype with wheel-based steering and traction actuation, demonstrate the effectiveness of the LCA.
Lyapunov-based fault tolerant control allocation
Vehicle System Dynamics ; 60 , 10 ; 3605-3630
2022-10-03
26 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Unbekannt
Fault Tolerant Control for Quad-rotor UAV by Employing Lyapunov-based Adaptive Control Approach
British Library Conference Proceedings | 2010
|Lyapunov-based Fault Tolerant Flight Control Designs for a Modern Fighter Aircraft Model
British Library Conference Proceedings | 2009
|Fault-Tolerant Fixed Allocation Control Scheme for Octorotor
Springer Verlag | 2021
|