Adaptive event-based robust passive fault tolerant control for nonlinear lateral stability of autonomous electric
Jing Zhao1, Xiaowei Wang2, Zhongchao Liang3
1School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China; Foshan Graduate School, Northeastern University, Foshan 528000, China; Key Laboratory of Vibration and Control of Aero-Propulsion System, Ministry of Education, Northeastern University, Shenyang 110819, China.
Abstract:
This work solves the robust passive fault-tolerant control problem for autonomous electric vehicles based on an adaptive event triggered mechanism. Firstly, given the system uncertainties from the tire dynamics and the longitudinal speed, the T-S fuzzy model method is used to approximate the vehicle lateral dynamics. Secondly, taking the communication constraints caused by band-limited networks into account, an adaptive event-triggered scheme is introduced in the process of the control design. Moreover, the asynchronous constraint of the weight function between the controller and system is considered. Thirdly, considering that the actuator faults are inevitably encountered in the control system, a robust passive fault-tolerant control method is proposed to improve vehicle performances. Finally, simulations are carried out to illustrate the effectiveness and robustness of the proposed approach.
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