Publication Date


Document Type


Committee Members

Xiaodong Zhang, Ph.D. (Advisor); Luther Palmer, III, Ph.D. (Committee Member); Yan Zhuang, Ph.D. (Committee Member)

Degree Name

Master of Science in Electrical Engineering (MSEE)


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.

Page Count


Department or Program

Department of Electrical Engineering

Year Degree Awarded


Creative Commons License

Creative Commons Attribution-Noncommercial-No Derivative Works 3.0 License
This work is licensed under a Creative Commons Attribution-Noncommercial-No Derivative Works 3.0 License.