Sensor Fault Diagnosis and Fault Tolerant Control for Forklift Based on Sliding Mode Theory

Abstract

For the forklift equipped with electrical sensors, a fault tolerant control (FTC) strategy is proposed. First, considering the uncertainty of forklift cargo and the external output disturbance, the equivalent sensor fault model of forklift is constructed. Then, a sliding mode observer (SMO) with adaptive regulation law is proposed to solve the problem that some fault reconstruction methods demand the upper bound of faults. Based on the fault value reconstructed by SMO, a sliding mode fault-tolerant controller is designed. It can realize active FTC of typical sensor faults of forklift in the presence of uncertainties and output disturbance. Finally, experiment is given to verify the effectiveness of the proposed FTC strategy.