Adaptive Fault-Tolerant Control Considering the Actuator Failure of Forklift Anti-Rollover System

An adaptive fault-tolerant anti-rollover fuzzy system is proposed to improve the anti-rollover performance of counterbalanced forklifts. Considering the actual control input, various unpredictable actuator failure models in the system are established. Based on the three degree-of-freedom (DOF) model...

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Bibliographic Details
Published inInternational journal of automotive technology Vol. 24; no. 3; pp. 705 - 718
Main Authors Xia, Guang, Li, Tao, Tang, Xiwen, Zhang, Yang, Zhao, Linfeng
Format Journal Article
LanguageEnglish
Published Seoul The Korean Society of Automotive Engineers 01.06.2023
Springer Nature B.V
한국자동차공학회
Subjects
Actuator failure
Adaptive control
Adaptive systems
Automotive Engineering
Control methods
Controllers
Degrees of freedom
Disturbances
Electric vehicles
Engineering
Failure
Fault tolerance
Fork lift trucks
Forklift trucks
Robust control
Rollover
Stability analysis
System theory
Traffic control
Velocity
자동차공학
Adaptive fault tolerance
Adaptive law
Counterbalanced forklift truck
T-S fuzzy system
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Summary:An adaptive fault-tolerant anti-rollover fuzzy system is proposed to improve the anti-rollover performance of counterbalanced forklifts. Considering the actual control input, various unpredictable actuator failure models in the system are established. Based on the three degree-of-freedom (DOF) model of a counterbalanced forklift, an anti-rollover Takagi-Sugeno (T-S) fuzzy system is established. The stability of this anti-rollover system is analyzed to ensure its stability under specific control inputs and external disturbances. When the upper limits of actuator faults and disturbances are unknown, an adaptive fault-tolerant control method is designed to update the controller parameters. The sufficient conditions for the stability of the forklift anti-rollover system in the presence of actuator faults and external disturbances are given using the Lyapunov stability theory. Simulation and real vehicle tests based on MATLAB/Simulink show that the anti-rollover system with adaptive fault-tolerant control can reduce impacts effectively and quickly after the actuator fails, thereby improving the safety and reliability of the forklift.
ISSN:1229-9138
1976-3832
DOI:10.1007/s12239-023-0059-9