Actuator faults in a vehicle can lead to significant risks during docking maneuvers in port terminal areas, ranging from failed docking attempts to catastrophic accidents. Handling the effects of these faults is crucial. Therefore, this paper presents the design and implementation of a fault-resilient controller for docking maneuvers in heavy ground vehicles used for the horizontal transportation of containers. In this process, first, the fault observer has been designed and then integrated into the nonlinear controller. The controller is designed based on the point stabilization strategy, with stability ensured through Lyapunov stability criteria applied to both the fault observer and controller. Simulation results show that the fault-resilient controller successfully docks the vehicle, while the baseline controller fails due to its susceptibility to actuator faults. Implementation results further demonstrate that despite the existence of lumped faults, the vehicle successfully reaches the desired configuration and docks.
Actuator Fault-Resilient Precision Control of Heavy Ground Vehicles*
2024-06-24
2121474 byte
Conference paper
Electronic Resource
English
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