带有执行器故障汽车驾驶机器人反步自适应容错控制  

Backstepping Adaptive Fault-tolerant Control for a Vehicle Driving Robot System with Actuator Failures

作　　者：丁东东 姚雪莲[1] 杨艺[1] 吴鸣宇 DING Dongdong;YAO Xuelian;YANG Yi;WU Mingyu(School of Automoblie and Traffic Engineering,Jiangsu University of Technology,Changzhou 213001,China)

机构地区：[1]江苏理工学院汽车与交通工程学院,江苏常州213001

出　　处：《信息与控制》2022年第2期230-236,共7页Information and Control

基　　金：国家自然科学基金(61903165);江苏省研究生科研与实践创新计划项目(XSJCX20_21,XSJCX21_50);常州市科技支撑计划社会发展项目(CE20195027);江苏省大学生创新创业训练计划项目(202111463012Z)。

摘　　要：针对机械腿执行器可能发生的不确定故障,提出了一种自适应容错控制方法。首先基于反步设计基本非线性控制器;然后设计自适应控制器对机械腿控制系统进行故障补偿和扰动抑制,使机械腿在发生故障的情况下仍能旋转到期望位置,进而实现对车速的跟踪控制。最后通过搭建Simulink仿真模型,证明所提的故障补偿控制算法能实现期望的控制目标提高汽车行驶过程中的安全性和可靠性。We propose an adaptive fault-tolerant control method for uncertain faults that may occur in mechanical leg actuators.First,we design a basic nonlinear controller based on backstepping.Then,we design an adaptive controller to compensate for the faults and suppress the disturbances of the mechanical leg control system so that the mechanical leg can still rotate to the desired position in the case of failure,and then realize the tracking control of the speed.Finally,by building a Simulink simulation model,it is proven that the proposed fault compensation control algorithm can achieve the desired control objectives and improve the safety and reliability of vehicles in the driving process.

关 键 词：反步 车速控制 汽车驾驶机器人 自适应控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]