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

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Abstract

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.

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Abbreviations

m :

mass of the forklift

m s :

mass of car frame

v x :

longitudinal speed of the forklift

β̇ :

body sideslip angular velocity

ω :

yaw angular velocity of the forklift

a y :

lateral acceleration

φ :

frame roll angle

a :

distance from the front wheels to the center of mass

b :

distance from the rear wheels to the center of mass

δ :

angle of the rear wheel

F yf :

lateral force of front tires

F yr :

lateral force of rear tires

L :

distance between front and rear axles

K s :

equivalent contact stiffness

C s :

equivalent contact damping

T 1 :

front wheel vertical stiffness

B 1, B 2 :

front, rear track width

C fi, C ri :

front, rear wheel cornering stiffness

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Acknowledgement

This study was supported by the National Natural Science Foundation (52275100). The author would like to thank the state funding and all the participants for their assistance.

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Authors and Affiliations

  1. The Institute of Automotive Engineering, Hefei University of Technology, Hefei, 230009, China

    Guang Xia, Tao Li & Yang Zhang

  2. The Institute of Radar Confrontation, National University of Defense Technology, Hefei, 230009, China

    Xiwen Tang

  3. The School of Automotive and Traffic Engineering, Hefei University of Technology, Hefei, 230037, China

    Guang Xia & Linfeng Zhao

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  1. Guang Xia
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  2. Tao Li
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  3. Xiwen Tang
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  4. Yang Zhang
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Correspondence to Guang Xia.

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Xia, G., Li, T., Tang, X. et al. Adaptive Fault-Tolerant Control Considering the Actuator Failure of Forklift Anti-Rollover System. Int.J Automot. Technol. 24, 705–718 (2023). https://doi.org/10.1007/s12239-023-0059-9

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  • DOI: https://doi.org/10.1007/s12239-023-0059-9

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