{"id":{"repo_id":"ohiolink","oai_identifier":"oai:etd.ohiolink.edu:osu1365522537"},"canonical_url":"https://search.dev.ndltd.org/etd/ohiolink/oai:etd.ohiolink.edu:osu1365522537","repository":{"repo_id":"ohiolink","name":"OhioLINK","base_url":"https://etd.ohiolink.edu/acprod/odb_etd/ws/oai/oai"},"display":{"title":"Fault-Tolerant Control and Fault-Diagnosis Design for Over-Actuated Systems with Applications to Electric Ground Vehicles","abstract":"This dissertation addresses the fault-tolerant (FT) control and fault detection and diagnosis (FDD) problems for certain over-actuated systems with applications to electric ground vehicles. Two different control effort grouping methods are proposed to transfer the over-actuated system model to a square system to facilitate the controller design. By these control effort grouping method, the dynamics of the nonlinear over-actuated system with actuator faults is further modeled based on a generalized actuator fault model. A sliding mode control technique based FT controller is first designed to attenuate the disturbance and the uncertainty caused by the actuator fault. In order to avoid the possible chatting effects from the sliding model controller, a gain-scheduling robust controller based on the linear-parameter varying (LPV) technology is designed to against the actuator faults. The eigenvalue positions of the system matrix of the closed-loop system are also constrained into a disk to obtain better transient responses. Both of the proposed FT control methods can automatically distribute control efforts to each of the actuators without using the control allocation algorithms. In the FDD design, the actuator redundancy and identicalness are used to estimate the unknown parameter which is a common parameter of the actuators. An observer is employed to estimate the unknown parameter from each respective actuator, and the accurate estimate of the unknown parameter is obtained by rejecting the erroneous estimate of the faulty actuator though a voting scheme. The obtained accurate estimate of the unknown parameter is then adopted to calculate the residuals and detect the actuator fault. The external yaw moment generated from a four-wheel-independently-actuated (FWIA) ground vehicle, together with the automatic steering using an active steering system, make it possible to simultaneously regulate the vehicle lateral velocity and track the desired yaw rate. FT controller design for a FWIA vehicle equipped an active steering system is especially investigated.","abstract_html":"This dissertation addresses the fault-tolerant (FT) control and fault detection and diagnosis (FDD) problems for certain over-actuated systems with applications to electric ground vehicles. Two different control effort grouping methods are proposed to transfer the over-actuated system model to a square system to facilitate the controller design. By these control effort grouping method, the dynamics of the nonlinear over-actuated system with actuator faults is further modeled based on a generalized actuator fault model. A sliding mode control technique based FT controller is first designed to attenuate the disturbance and the uncertainty caused by the actuator fault. In order to avoid the possible chatting effects from the sliding model controller, a gain-scheduling robust controller based on the linear-parameter varying (LPV) technology is designed to against the actuator faults. The eigenvalue positions of the system matrix of the closed-loop system are also constrained into a disk to obtain better transient responses. Both of the proposed FT control methods can automatically distribute control efforts to each of the actuators without using the control allocation algorithms. In the FDD design, the actuator redundancy and identicalness are used to estimate the unknown parameter which is a common parameter of the actuators. An observer is employed to estimate the unknown parameter from each respective actuator, and the accurate estimate of the unknown parameter is obtained by rejecting the erroneous estimate of the faulty actuator though a voting scheme. The obtained accurate estimate of the unknown parameter is then adopted to calculate the residuals and detect the actuator fault. The external yaw moment generated from a four-wheel-independently-actuated (FWIA) ground vehicle, together with the automatic steering using an active steering system, make it possible to simultaneously regulate the vehicle lateral velocity and track the desired yaw rate. FT controller design for a FWIA vehicle equipped an active steering system is especially investigated.","abstract_has_math":false,"creators":["Wang, Rongrong"],"institution":"The Ohio State University","degree_name":"Doctor of Philosophy","degree_level":"doctoral","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Wang, Junmin"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2013,"date_issued":"2013-11-13","date_published":"2013-11-13","updated_at":"2026-07-24T03:37:31Z","subjects":["Mechanical Engineering","Fault-tolerant","control","fault diagnosis","over-actuated systems"],"languages":["English"],"rights":["unrestricted","This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws."],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://rave.ohiolink.edu/etdc/view?acc_num=osu1365522537","outbound_label":"Repository record","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Wang, Junmin"]},{"key":"dc:creator","label":"Author","values":["Wang, Rongrong"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2013-11-13"]},{"key":"dc:publisher","label":"Institution","values":["The Ohio State University / OhioLINK"]},{"key":"dc:type","label":"Dc Type","values":["Electronic Thesis or Dissertation"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["doctoral"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Doctor of Philosophy"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["The Ohio State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Mechanical Engineering","Fault-tolerant","control","fault diagnosis","over-actuated systems"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["English"]},{"key":"dc:rights","label":"Dc Rights","values":["unrestricted","This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws."]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://rave.ohiolink.edu/etdc/view?acc_num=osu1365522537"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This dissertation addresses the fault-tolerant (FT) control and fault detection and diagnosis (FDD) problems for certain over-actuated systems with applications to electric ground vehicles. Two different control effort grouping methods are proposed to transfer the over-actuated system model to a square system to facilitate the controller design. By these control effort grouping method, the dynamics of the nonlinear over-actuated system with actuator faults is further modeled based on a generalized actuator fault model. A sliding mode control technique based FT controller is first designed to attenuate the disturbance and the uncertainty caused by the actuator fault. In order to avoid the possible chatting effects from the sliding model controller, a gain-scheduling robust controller based on the linear-parameter varying (LPV) technology is designed to against the actuator faults. The eigenvalue positions of the system matrix of the closed-loop system are also constrained into a disk to obtain better transient responses. Both of the proposed FT control methods can automatically distribute control efforts to each of the actuators without using the control allocation algorithms. In the FDD design, the actuator redundancy and identicalness are used to estimate the unknown parameter which is a common parameter of the actuators. An observer is employed to estimate the unknown parameter from each respective actuator, and the accurate estimate of the unknown parameter is obtained by rejecting the erroneous estimate of the faulty actuator though a voting scheme. The obtained accurate estimate of the unknown parameter is then adopted to calculate the residuals and detect the actuator fault. The external yaw moment generated from a four-wheel-independently-actuated (FWIA) ground vehicle, together with the automatic steering using an active steering system, make it possible to simultaneously regulate the vehicle lateral velocity and track the desired yaw rate. FT controller design for a FWIA vehicle equipped an active steering system is especially investigated."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf","p.172","2.17 MB"]},{"key":"dc:title","label":"Title","values":["Fault-Tolerant Control and Fault-Diagnosis Design for Over-Actuated Systems with Applications to Electric Ground Vehicles"]}]}],"canonical_facts":{"dc:contributor":["Wang, Junmin"],"dc:creator":["Wang, Rongrong"],"dc:date":["2013-11-13"],"dc:description":["This dissertation addresses the fault-tolerant (FT) control and fault detection and diagnosis (FDD) problems for certain over-actuated systems with applications to electric ground vehicles. Two different control effort grouping methods are proposed to transfer the over-actuated system model to a square system to facilitate the controller design. By these control effort grouping method, the dynamics of the nonlinear over-actuated system with actuator faults is further modeled based on a generalized actuator fault model. A sliding mode control technique based FT controller is first designed to attenuate the disturbance and the uncertainty caused by the actuator fault. In order to avoid the possible chatting effects from the sliding model controller, a gain-scheduling robust controller based on the linear-parameter varying (LPV) technology is designed to against the actuator faults. The eigenvalue positions of the system matrix of the closed-loop system are also constrained into a disk to obtain better transient responses. Both of the proposed FT control methods can automatically distribute control efforts to each of the actuators without using the control allocation algorithms. In the FDD design, the actuator redundancy and identicalness are used to estimate the unknown parameter which is a common parameter of the actuators. An observer is employed to estimate the unknown parameter from each respective actuator, and the accurate estimate of the unknown parameter is obtained by rejecting the erroneous estimate of the faulty actuator though a voting scheme. The obtained accurate estimate of the unknown parameter is then adopted to calculate the residuals and detect the actuator fault. The external yaw moment generated from a four-wheel-independently-actuated (FWIA) ground vehicle, together with the automatic steering using an active steering system, make it possible to simultaneously regulate the vehicle lateral velocity and track the desired yaw rate. FT controller design for a FWIA vehicle equipped an active steering system is especially investigated."],"dc:format":["application/pdf","p.172","2.17 MB"],"dc:identifier":["http://rave.ohiolink.edu/etdc/view?acc_num=osu1365522537"],"dc:language":["English"],"dc:publisher":["The Ohio State University / OhioLINK"],"dc:rights":["unrestricted","This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws."],"dc:subject":["Mechanical Engineering","Fault-tolerant","control","fault diagnosis","over-actuated systems"],"dc:title":["Fault-Tolerant Control and Fault-Diagnosis Design for Over-Actuated Systems with Applications to Electric Ground Vehicles"],"dc:type":["Electronic Thesis or Dissertation"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["doctoral"],"thesis:degree_name":["Doctor of Philosophy"],"thesis:institution_name":["The Ohio State University"]},"updated_at":"2026-07-24T03:37:31Z"}