Research On Fault Tolerant Control Of Two-wheel Drive Intelligent Vehicle Based On Adaptive Technology

Active fault-tolerant control(FTC)is a control method that ensures that the system can operate safely,reliably,normally and stably by compensating the faults that occur when system components fail during operation.While the two-wheel drive intelligent vehicle is performing tasks,accurate trajectory tracking is crucial.The corresponding active fault-tolerant control strategy can be designed based on adaptive technology to solve the trajectory tracking problem of the two-wheel drive intelligent vehicle with actuator failure.This paper focuses on two types of problems.The first type of problem is mainly for a class of continuous-time systems.In the case of system actuator failure,external disturbance and controller coefficient changes,an adaptive fault-tolerant controller is designed based on adaptive technology to ensure the stability of the system.First,because the fault and controller coefficients are unknown and bounded,the upper and lower bounds of the above unknown parameters are estimated through adaptive techniques.Second,based on these estimates,an adaptive fault-tolerant controller is constructed to eliminate the effects of faults,interference,and coefficient changes.Then,based on the Lyapunov stability theory,the bounded stability of the closed-loop adaptive system is realized.Finally,the efficiency of the developed adaptive control strategy is verified by a two-wheel drive intelligent vehicle system.The second type of problem is mainly for the fault-tolerant control of a two-wheel drive intelligent vehicle system with actuator failure and unknown parameters.The trajectory tracking problem of the two-wheel drive intelligent vehicle under the condition of actuator failure and unknown parameters is solved.Firstly,an adaptive method is proposed to estimate the actuator failure information and the unknown parameters of the intelligent vehicle.Then,the backstepping method is used to construct a state feedback control strategy based on adaptive control.Based on Lyapunov's stability theory,it is proved that the forward speed and azimuth of the two-wheel drive intelligent vehicle can gradually track the given trajectory under the condition of actuator failure and unknown parameters.Finally,a two-wheel drive intelligent vehicle system is used to verify the effectiveness of the proposed method.