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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- 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 :
- 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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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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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