Sensor Fault Diagnosis and Fault Tolerant Control for Automated Guided Forklift

Abstract

For the problem of multiple sensor faults in the automated guided forklift (AGF), an equivalent model with system faults and disturbances is established. To detect multiple sensor faults in the AGF, a sliding mode observer (SMO) is proposed. It introduces a fault estimation algorithm that is designed by the fault residual and the residual is only sensitive to sensor faults which means that the SMO is robust to unknown input disturbances. On the other side, it can also judge the faulty sensor according to the feature vector of different sensors. To judge the type of sensor faults accurately, a mathematical model of sensor fault characteristics is established and it can provide a foundation for choosing appropriate fault-tolerant output compensation measures. Then an active fault-tolerant control method based on state feedback is proposed. It can restore the control system to normal and maintain the stability of the control system. Finally, experiments are given to verify the effectiveness of the proposed fault-tolerant control strategy.

Robust Fault-Tolerant Control of Continuous Lurie Networked Control Systems Based on the Observer with the Event-Triggered Mechanism

“…Fault-tolerant control is the most common and e ective control method [7,8], which has received a lot of attention from academics and has achieved some results. e existing research literature on fault-tolerant control of NCS with time-delay can be divided into two categories.…”

A novel H∞ observer for sensor fault diagnosis of vehicle electronic stability control system with disturbance and input delay

“…Aiming at the method of multi-sensor fault in automatic guided forklift, considering sensor faults and interference factors, an equivalent model is established, and a sliding mode observer is proposed to detect sensor fault in AGF. 22 However, research on sensor fault diagnosis in vehicle stability system is rare. Mousavinejad et al 23 constructs a membership estimation method of distributed set to track system state and sensor faults, and the fault diagnosis methods are proposed.…”

“…Aiming at the method of multi-sensor fault in automatic guided forklift, considering sensor faults and interference factors, an equivalent model is established, and a sliding mode observer is proposed to detect sensor fault in AGF. 22…”