Fault-Tolerant Control of Automated Guided Vehicle Under Centroid Variation
Aiming at stability and safety problems caused by the actuator failure of the automated guided vehicle under the condition of centroid position change. The four-wheel independent drive four-wheel independent steer (4WID/4WIS) AGV is studied for fault-tolerant control of single-wheel drive actuators...
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9810213/ |
| _version_ | 1828324267897389056 |
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| author | Qingjie Zhang Wei Liu Ping Liu |
| author_facet | Qingjie Zhang Wei Liu Ping Liu |
| author_sort | Qingjie Zhang |
| collection | DOAJ |
| description | Aiming at stability and safety problems caused by the actuator failure of the automated guided vehicle under the condition of centroid position change. The four-wheel independent drive four-wheel independent steer (4WID/4WIS) AGV is studied for fault-tolerant control of single-wheel drive actuators under the centroid position variation condition. First, 3-DOF vehicle model, drive-wheel dynamics model, HSRI tire model, and the actuator loss of effectiveness model established. Second, a hierarchical controller is designed with an optimal input controller based on Model Predictive Control (MPC) theory of the upper layer, a desired yaw moment solver based on fuzzy theory of the middle layer, and a torque reconstruction controls distributor based on the control gain in the lower layer. Then, the AGV is simulated and analyzed in straight line and double line change conditions. The simulation results show that the yaw rate and the centroid sideslip angle can closely track the theoretical value. The difference between the theoretical value is kept within 5%. Finally, the 4WID/4WIS AGV prototype vehicle was developed and tested for straight-line and double-lane change condition. The difference between simulation and experiment was within 4%. The experimental results show that the designed controller is effective. |
| first_indexed | 2024-04-13T19:04:04Z |
| format | Article |
| id | doaj.art-d66860b16a394363a45fd01d3f5e720d |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-13T19:04:04Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-d66860b16a394363a45fd01d3f5e720d2022-12-22T02:34:02ZengIEEEIEEE Access2169-35362022-01-0110689956900910.1109/ACCESS.2022.31870319810213Fault-Tolerant Control of Automated Guided Vehicle Under Centroid VariationQingjie Zhang0https://orcid.org/0000-0002-9972-2040Wei Liu1https://orcid.org/0000-0003-1982-829XPing Liu2https://orcid.org/0000-0002-4146-2952School of Automotive Engineering, Yancheng Institute of Technology, Yancheng, ChinaSchool of Automotive Engineering, Yancheng Institute of Technology, Yancheng, ChinaSchool of Automotive Engineering, Yancheng Institute of Technology, Yancheng, ChinaAiming at stability and safety problems caused by the actuator failure of the automated guided vehicle under the condition of centroid position change. The four-wheel independent drive four-wheel independent steer (4WID/4WIS) AGV is studied for fault-tolerant control of single-wheel drive actuators under the centroid position variation condition. First, 3-DOF vehicle model, drive-wheel dynamics model, HSRI tire model, and the actuator loss of effectiveness model established. Second, a hierarchical controller is designed with an optimal input controller based on Model Predictive Control (MPC) theory of the upper layer, a desired yaw moment solver based on fuzzy theory of the middle layer, and a torque reconstruction controls distributor based on the control gain in the lower layer. Then, the AGV is simulated and analyzed in straight line and double line change conditions. The simulation results show that the yaw rate and the centroid sideslip angle can closely track the theoretical value. The difference between the theoretical value is kept within 5%. Finally, the 4WID/4WIS AGV prototype vehicle was developed and tested for straight-line and double-lane change condition. The difference between simulation and experiment was within 4%. The experimental results show that the designed controller is effective.https://ieeexplore.ieee.org/document/9810213/4WID/4WISMPCfault-tolerant controldrive torque reconstructioncentroid variation |
| spellingShingle | Qingjie Zhang Wei Liu Ping Liu Fault-Tolerant Control of Automated Guided Vehicle Under Centroid Variation IEEE Access 4WID/4WIS MPC fault-tolerant control drive torque reconstruction centroid variation |
| title | Fault-Tolerant Control of Automated Guided Vehicle Under Centroid Variation |
| title_full | Fault-Tolerant Control of Automated Guided Vehicle Under Centroid Variation |
| title_fullStr | Fault-Tolerant Control of Automated Guided Vehicle Under Centroid Variation |
| title_full_unstemmed | Fault-Tolerant Control of Automated Guided Vehicle Under Centroid Variation |
| title_short | Fault-Tolerant Control of Automated Guided Vehicle Under Centroid Variation |
| title_sort | fault tolerant control of automated guided vehicle under centroid variation |
| topic | 4WID/4WIS MPC fault-tolerant control drive torque reconstruction centroid variation |
| url | https://ieeexplore.ieee.org/document/9810213/ |
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