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International Journal of Automotive Technology > Volume 24(3); 2023 > Article
International Journal of Automotive Technology 2023;24(3): 705-718.
doi: https://doi.org/10.1007/s12239-023-0059-9
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
PDF Links Corresponding Author.  Guang Xia  , Email. xiaguang008@hfut.edu.cn
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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