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Vaishnavi Janakiraman_Thesis.pdf (1.93 MB)

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Fault-Tolerant Control of Autonomous Ground Vehicle under Actuator and Sensor Faults

Janakiraman, Vaishnavi
http://rave.ohiolink.edu/etdc/view?acc_num=wright1673047816006748

Abstract Details

2022, Master of Science in Electrical Engineering (MSEE), Wright State University, Electrical Engineering.
Unmanned ground vehicles have a wide range of potential applications including autonomous driving, military surveillance, emergency responses, and agricultural robotics, etc. Since such autonomous vehicles need to operate reliably at all times, despite the possible occurrence of faulty behaviors in some system components, the development of fault-tolerant control schemes is a crucial step in ensuring reliable and safe operations. In this research, a fault-tolerant control scheme is developed for a nonlinear ground vehicle model with possible occurrence of both actuator faults in the form of loss of effectiveness (LOE) and sensor bias faults. Based on the vehicle and fault models under consideration, the unknown fault parameters are estimated online using adaptive estimation methods. The estimated fault parameters are used for accommodating the fault effect to maintain satisfactory control performance even in the presence of faults. Real-time algorithm implementation and demonstration using the Qbot2e ground robot by Quanser are conducted to show the effectiveness of the fault-tolerant control algorithm.
Xiaodong Zhang, Ph.D. (Advisor)
Luther Palmer, III, Ph.D. (Committee Member)
Yan Zhuang, Ph.D. (Committee Member)
69 p.
Electrical Engineering
Autonomous ground vehicle; Actuator and sensor faults; Fault-tolerant control

Recommended Citations

Citations

  • Janakiraman, V. (2022). Fault-Tolerant Control of Autonomous Ground Vehicle under Actuator and Sensor Faults [Master's thesis, Wright State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=wright1673047816006748

    APA Style (7th edition)

  • Janakiraman, Vaishnavi. Fault-Tolerant Control of Autonomous Ground Vehicle under Actuator and Sensor Faults. 2022. Wright State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=wright1673047816006748.

    MLA Style (8th edition)

  • Janakiraman, Vaishnavi. "Fault-Tolerant Control of Autonomous Ground Vehicle under Actuator and Sensor Faults." Master's thesis, Wright State University, 2022. http://rave.ohiolink.edu/etdc/view?acc_num=wright1673047816006748

    Chicago Manual of Style (17th edition)

wright1673047816006748
107
© 2022, some rights reserved.Creative Commons License Fault-Tolerant Control of Autonomous Ground Vehicle under Actuator and Sensor Faults by Vaishnavi Janakiraman is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by Wright State University and OhioLINK.