A fault-tolerant control strategy for multiple automated guided vehicles

Witczak, Marcin; Majdzik, Paweł; Stetter, Ralf; Lipiec, Bogdan

doi:10.1016/j.jmsy.2020.02.009

Cited by 40 publications

(12 citation statements)

References 48 publications

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“…The storage and retrieval system can be realised by forklifts, which receive items from transfer stations or deliver them to transfer stations. Form these transfer stations the items are delivered by means of a transportation system consisting of AGVs (Witczak et al 2020). The individual AGVs are equipped with a roller conveyor for the transportation of palettes and dispose of a certain steering mechanism which allows unlimited manoeuvrability.…”

Section: Application Example: Automated Logistics Systemmentioning

confidence: 99%

Cyber-Security Aware Design of Automated Systems

2022

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One of the main current threats for producing companies is the possibility of cyber-space attacks. Due to several reasons, industrial companies need to connect their plants over some kind of networks. Obviously, today many approaches from information technology (IT) exist which will greatly reduce the danger of attacks. Still, no producing company can completely rely on these IT solutions. This paper proposes a systemic approach to design processes and products for increased cyber security. This approach is based on an attack model and is explained based on an automated storage system.

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Section: Application Example: Automated Logistics Systemmentioning

confidence: 99%

Cyber-Security Aware Design of Automated Systems

2022

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“…In recent years, different kinds of advance control methods have been applied to the motion control of robots, including optimal control [ 5 ], model predictive control (MPC) [ 6 ], Reinforcement Learning (RL)-based control approach [ 7 ], adaptive neural network [ 8 ], and neuroadaptive learning algorithms [ 9 ]. The chassis control of AMR usually consists of longitudinal motion control and lateral motion control [ 10 ]. Longitudinal motion control is associated with the drive and brake actuators, e.g., in-wheel motors (IWMs) and electro-mechanical brake (EMB) systems.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Predictive Motion Control for Autonomous Mobile Robots Considering Active Fault-Tolerant Control and Regenerative Braking

Hang

Lou

2022

Sensors

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To further advance the performance and safety of autonomous mobile robots (AMRs), an integrated chassis control framework is proposed. In the longitudinal motion control module, a velocity-tracking controller was designed with the integrated feedforward and feedback control algorithm. Besides, the nonlinear model predictive control (NMPC) method was applied to the four-wheel steering (4WS) path-tracking controller design. To deal with the failure of key actuators, an active fault-tolerant control (AFTC) algorithm was designed by reallocating the driving or braking torques of the remaining normal actuators, and the weighted least squares (WLS) method was used for torque reallocation. The simulation results show that AMRs can advance driving stability and braking safety in the braking failure condition with the utilization of AFTC and recapture the braking energy during decelerations.

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“…The method of adaptive fault-tolerant control is proposed by many scholars [33][34][35]. [33] studied the problem of finite time control for a class of uncertain non-linear systems with unknown actuator faults.…”

Section: Introductionmentioning

confidence: 99%

“…[33] studied the problem of finite time control for a class of uncertain non‐linear systems with unknown actuator faults. A fault‐tolerant control strategy for multiple automated guided vehicles is proposed in [34]. A fault‐tolerant control method for electro‐hydraulic system is proposed in [35].…”

Section: Introductionmentioning

confidence: 99%

Adaptive fuzzy fault‐tolerant control of seat active suspension systems with actuator fault

Zhang

Liu

2021

IET Control Theory & Appl

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This paper proposes an adaptive fuzzy fault-tolerant control method about seat active suspension systems. The significant indexes of seat active suspension system are ride comfort and safety. Considering the actuator failure of seat active suspension system, the problems of passengers' ride comfort and safety are better solved. Two adaptive laws are designed to solve the two unknown coefficients in the actuator fault of the seat active suspension system. The fuzzy logic systems are applied to approximate the unknown terms in the system, and an adaptive fuzzy fault-tolerant controller is designed by using the backstepping method. In the closed-loop systems, all signals are bounded which is proved through Lyapunov stability theory. Finally, two different road surface disturbances are considered in the simulation, which proves the effectiveness of the proposed method. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.

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A fault-tolerant control strategy for multiple automated guided vehicles

Cited by 40 publications

References 48 publications

Cyber-Security Aware Design of Automated Systems

Cyber-Security Aware Design of Automated Systems

Nonlinear Predictive Motion Control for Autonomous Mobile Robots Considering Active Fault-Tolerant Control and Regenerative Braking

Adaptive fuzzy fault‐tolerant control of seat active suspension systems with actuator fault

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