This work addresses the design of an active fault-tolerant motion controller for over-actuated road vehicles. Our concept revolves around a control allocation framework, extended with Lyapunov-based stability constraints and costs. Besides the ability to cope with actuator constraints and optimal actuator reconfiguration, the proposed Lyapunov-based control allocation (LCA) allows the graceful degradation of control performance. Theoretical analysis and simulation results demonstrate that, in comparison with classical control allocation, the proposed LCA reduces tracking errors of the motion controller in the aftermath of actuator faults. Experimental tests carried out with the ROboMObil, a robotic electric vehicle prototype with wheel-based steering and traction actuation, demonstrate the effectiveness of the LCA.

这项工作解决了为过度驱动的道路车辆设计的主动容错运动控制器。我们的概念围绕控制分配框架展开，并扩展了基于 Lyapunov 的稳定性约束和成本。除了应对执行器约束和优化执行器重新配置的能力外，所提出的基于 Lyapunov 的控制分配 (LCA) 还允许控制性能的优雅降级。理论分析和仿真结果表明，与经典控制分配相比，所提出的 LCA 减少了执行器故障后运动控制器的跟踪误差。使用 ROboMObil 进行的实验测试是一种具有轮式转向和牵引驱动的机器人电动汽车原型，证明了 LCA 的有效性。