Effective fault-tolerant control paradigm for path tracking in autonomous vehicles
نویسندگان
چکیده
منابع مشابه
Adaptive Fault Tolerant Control Allocation Strategies for Autonomous Overactuated Vehicles
This paper presents a preliminary adaptive control allocation scheme for overactuated autonomous vehicles that is fault-tolerant with respect to actuator faults or loss of effectiveness. The main idea here is to use an ad-hoc online parameter estimator coupled with an allocation algorithm to perform on-line control reconfiguration. A simple algorithm is proposed for nonlinear discrete-time syst...
متن کاملFault Tolerant Autonomous Lateral Control for Heavy Vehicles
The contents of this report reflect the views of the authors who are responsible for the facts and the accuracy of the data presented herein. The contents do not necessarily reflect the official views or policies of the State of California. This report does not constitute a standard, specification, or regulation. Lateral Control for Heavy Vehicles ". This project represents a continuing effort ...
متن کاملFault Tolerant Control Strategy for an Overactuated Autonomous Vehicle Path Tracking
The paper presents a fault tolerant control (FTC) strategy for maintaining the lateral stability of a 4WS4WD autonomous vehicle in presence of an unknown component fault. It is designed using the flatness theory and the backstepping technique, and consists in actively controlling the vehicle’s rearwheel steering system. In a normal situation, only the front-wheel steering actuator is used since...
متن کاملAdaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane
This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...
متن کاملFault Tolerant Autonomous Decision Making for Unmanned Vehicles
Autonomous decision making for system recoverability from failures or damage is a key challenge for next generation unmanned vehicles (UXVs). Architectures capable of coping with unforeseen situations during mission time are a desirable technology that can undoubtedly improve vehicle operability. This paper presents the work that has been carried out in order to research the current-state-of-th...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Systems Science & Control Engineering
سال: 2014
ISSN: 2164-2583
DOI: 10.1080/21642583.2014.1002138