| ADAPTIVE FAULT-TOLERANT CONTROL CONSIDERING THE
ACTUATOR FAILURE OF FORKLIFT ANTI-ROLLOVER SYSTEM |
| Guang Xia 1,3, Tao Li 1, Xiwen Tang 2, Yang Zhang 1, Linfeng Zhao 3 |
1The Institute of Automotive Engineering, Hefei University of Technology
2The Institute of Radar Confrontation, National University of Defense Technology
3The School of Automotive and Traffic Engineering, Hefei University of Technology |
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| ABSTRACT |
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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. |
| Key Words:
Adaptive fault tolerance, Adaptive law, Counterbalanced forklift truck, T-S fuzzy system |
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Corresponding Author.
Guang Xia , Email. 
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