Antisaturation Adaptive Fault Tolerant Control Of The Two-Wheeled Upright Trolley System

With the increasing development of science and technology, the two-wheeled upright vehicle gradually becomes a closely watched transportation in people's lives. It looks like an ordinary trolley, they can stay upright by itself. In order to make the vehicle move forward or backward, the driver need only to make its body slightly forward or backward, and can realize pivot turn or some complicated sections of track running, so it is very popular in the civilian and military fields. However, the excessive input will make the control input reach saturation,then the two-wheeled upright vehicle control system will get to actuator saturation, which will lead to difficulty for system to reach a steady state.This paper focused on the controller design method for two-wheeled upright trolley control system under the actuator saturation and fault conditions. Firstly, according to Newton's second law, through the body and wheel stress analysis the equations were established, after linearization, mathematical model of the two-wheeled upright trolley can be drawn. Then the paper designed their corresponding adaptive controller under the feedback and dynamic output feedback conditions, considering the impact of actuator saturation and partial failure of the state of the system. Taking into account the impact of closed-loop system adaptive law under the actuator saturation and actuator fault conditions, real-time estimation of the closed-loop system through adaptive laws are under consideration feedback and dynamic output feedback conditions for the implementation of adaptive compensation in state control, So that the stability of the closed-loop system can be sure.Using the LMI toolbox in MATLAB can achieve the optimization of fault-tolerant control algorithm. We can get the system's domain of attraction which represents the fixed gain and adaptive gain controller, the comparison shows that the results of the adaptive control can make a bigger domain of attraction. Finally, the paper used MATLAB / Simulink to build a simulation model to describe the two-wheeled upright trolley system. Firstly we given an initial saturation control input, then, by comparing to partial state curve fixed gaincontroller and adaptive gain controller can be seen that under the control results can be adaptive gain control loop system stable state, and fixed gain control but can't control the results. Thus, it can be verified that the adaptive gain controller has a bigger domain of attraction to make the system stable.