Model-Independent Adaptive Fault-Tolerant Output Tracking Control of 4WS4WD Road Vehicles

Li, Danyong; Song, Yongduan; Huang, Dongyang; Chen, He-Nan

doi:10.1109/tits.2012.2211016

Cited by 60 publications

(46 citation statements)

References 26 publications

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“…ρ = diag{ρ 1 , ρ 2 , ρ 3 , ρ 4 } is a time-varying and diagonal matrix with ρ i ∈ (0, 1] related to the actuator deficiency or "health indicator" [27]- [30]; o = [o 1 , o 2 , o 3 , o 4 ] T denotes a vector function reflecting the portion of the control action produced by the actuator that is completely out of control. It is assumed that there exists some constant…”

Section: Neuro-adaptive Fault-tolerant Controlmentioning

confidence: 99%

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Neuro-Adaptive Fault-Tolerant Approach for Active Suspension Control of High-Speed Trains

Song

Cai

2015

IEEE Trans. Intell. Transport. Syst.

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Excessive lateral and roll motions of a high-speed train might endanger its operational safety. This paper investigates how to suppress those motions via an active-suspension method. By exploiting the structural properties of the system model and the triangular control gain, a new control scheme capable of attenuating immeasurable disturbances, compensating modeling uncertainties, and accommodating actuation faults is developed. Compared with most existing methods, the proposed method does not require precise information on the suspension parameters and the detail system model. Moreover, the magnitude of the actuation fault and the time instant at which the actuation fault occurs are not needed in setting up and implementing the proposed control scheme. The controller is tested and validated via computer simulations in the presence of parametric uncertainties and varying operation conditions.

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Section: Neuro-adaptive Fault-tolerant Controlmentioning

confidence: 99%

“…Corollary 1: Consider the dynamic system as given in (30). Let the following neuro-adaptive control scheme be implemented…”

Section: Further That A(t) Is Hurwitz; That Ismentioning

confidence: 99%

Neuro-Adaptive Fault-Tolerant Approach for Active Suspension Control of High-Speed Trains

Song

Cai

2015

IEEE Trans. Intell. Transport. Syst.

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“…Research on 4WS4WD EVs has focused on the problems of tire-force distribution [1], [6], development of prototypes and laboratory scale testbeds [7], path-tracking control (PTC) [8]- [12], faulttolerant PTC [13], and fault-tolerant control of the motors [14]. This brief restricts itself to developing a simple solution to the problem of PTC.…”

Section: Introductionmentioning

confidence: 99%

“…Peng [8] and Peng et al [9] use linearization, singular perturbation, robust bounded control, algebraic Riccati equations, and linear matrix inequalities. Li et al [14] use Lyapunov stability theory to develop fault-tolerant controllers for the driving and steering motors. Yang et al [13] and Chen et al [15] use the linearized version of the model presented in [8] and [9].…”

Section: Introductionmentioning

confidence: 99%

Path-Tracking Control of an Autonomous 4WS4WD Electric Vehicle Using Its Natural Feedback Loops

Potluri

Singh

2015

IEEE Trans. Contr. Syst. Technol.

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A four-wheel steering four-wheel drive electric vehicle has a steering motor and a driving motor for each wheel, for a total of eight motors. Almost all of the existing pathtracking controllers for this vehicle are designed by viewing the mathematical model of the vehicle as the system of equationṡ x = f (x, u), y = h(x, u), and are mathematically sophisticated. In contrast, this brief presents a block diagrammatic representation of the model, and exploits the natural feedback loops revealed through this representation to develop two novel and useful results: 1) a mathematically simpler path-tracking controller that promises to be easier to tune and 2) a constraint on the wheel accelerations that helps constrain the wheel slips to a desired value. Simulations illustrate this solution.Index Terms-Active wheel, autonomous corner module, disturbance observer (DOB), electric corner module, four-wheel steering four-wheel drive (4WS4WD), input-to-state stability (ISS), path-tracking control (PTC). 1063-6536

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“…The commented paper [6] has three errors in the wheel dynamics and in the friction/slip curve. Error 1 Absence of tractive torque in the wheel dynamics.…”

Section: Introductionmentioning

confidence: 99%

Comments on “Model-Independent Adaptive Fault-Tolerant Output Tracking Control of 4WS4WD Road Vehicles”

Singh

Potluri

2015

IEEE Trans. Intell. Transport. Syst.

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The commented paper "Model-Independent Adaptive Fault-Tolerant Output Tracking Control of 4WS4WD Road Vehicles" (IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, vol. 14, no. 1, pp. 169-179, Mar. 2013) has multiple errors in its mathematical model. Because these errors, if left uncorrected, are a potential source of future errors in the emerging area of four-wheel steering four-wheel drive vehicles, this paper provides detailed discussions and corrections.Index Terms-Four-wheel steering four-wheel drive (4WS4WD), friction/slip curve, wheel dynamics.

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Model-Independent Adaptive Fault-Tolerant Output Tracking Control of 4WS4WD Road Vehicles

Cited by 60 publications

References 26 publications

Neuro-Adaptive Fault-Tolerant Approach for Active Suspension Control of High-Speed Trains

Neuro-Adaptive Fault-Tolerant Approach for Active Suspension Control of High-Speed Trains

Path-Tracking Control of an Autonomous 4WS4WD Electric Vehicle Using Its Natural Feedback Loops

Comments on “Model-Independent Adaptive Fault-Tolerant Output Tracking Control of 4WS4WD Road Vehicles”

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