Model-Independent Adaptive Fault-Tolerant Output Tracking Control of 4WS4WD Road Vehicles
This paper investigates the path-tracking control problem of four-wheel-steering and four-wheel-driving (4WS4WD) road vehicles. Of particular interest is the development of an adaptive and fault-tolerant tracking control scheme capable of compensating vehicle uncertain dynamics/disturbances and actuation failures simultaneously. Control algorithms are derived without requiring detail system dynamic information. The control scheme is shown to be effective in coping with unexpected actuation faults without the need for analytically estimating bound on actuator failure variables. The proposed method is validated and demonstrated through its application to a wheeled vehicle with four steering wheels and four driving wheels, where high-precision path tracking is achieved in the face of steering faults.
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
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Supplemental Notes:
- Abstract reprinted with permission of IEEE.
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Authors:
- Li, Dan-Yong
- Song, Yong-Duan
- Huang, Dong
- Chen, He-Nan
- Publication Date: 2013
Language
- English
Media Info
- Media Type: Digital/other
- Features: Figures; References; Tables;
- Pagination: pp 169-179
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Serial:
- IEEE Transactions on Intelligent Transportation Systems
- Volume: 14
- Issue Number: 1
- Publisher: Institute of Electrical and Electronics Engineers (IEEE)
- ISSN: 1524-9050
- Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979
Subject/Index Terms
- TRT Terms: Control; Detection and identification systems; Four wheel drive; Four wheel steering; Intelligent vehicles; Vehicle dynamics
- Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment; I70: Traffic and Transport; I90: Vehicles;
Filing Info
- Accession Number: 01501482
- Record Type: Publication
- Files: TLIB, TRIS
- Created Date: Dec 20 2013 10:29AM