DocumentCode :
723788
Title :
Fault-tolerant control of the self-balancing two-wheeled trolley with actuator saturation
Author :
Wei Guan ; Peng Liang ; Hanfei Gao
Author_Institution :
Sch. of Autom., Shenyang Aerosp. Univ., Shenyang, China
fYear :
2015
fDate :
23-25 May 2015
Firstpage :
459
Lastpage :
464
Abstract :
The actuator saturation problem is very common in the real system, owing to the actuators are limited by physical factors. The balance and stability of the two-wheeled trolley is also plagued by the problem of actuator saturation. In order to establish its nonlinear mathematical model, we can change the stability issues into a standard control problem. Using the LMI to give a method of control algorithm design about fixed gain and adaptive gain. In conclusion, it´s clear that adaptive control algorithm can make the closed-loop system to get a greatest attraction area under the normal and fault mode. The results show that adaptive control has the better effect by using the simulation.
Keywords :
adaptive control; closed loop systems; control system synthesis; fault tolerant control; linear matrix inequalities; mobile robots; nonlinear control systems; stability; trolleys; LMI; actuator saturation; adaptive control algorithm; adaptive gain; closed-loop system; control algorithm design; fault-tolerant control; fixed gain; nonlinear mathematical model; self-balancing two-wheeled trolley; stability; Actuators; Fault tolerance; Fault tolerant systems; Force; Mathematical model; Vehicles; Wheels; Actuator saturation; Adaptive Control; LMI; Two-wheeled trolley;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
Type :
conf
DOI :
10.1109/CCDC.2015.7161736
Filename :
7161736
Link To Document :
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