Abstract
This chapter deals with fault-tolerance control (FTC) of off-road unmanned ground vehicles. A brief discussion on FTC is introduced. Then the FTC of the fault is integrated into the lower-level torque distribution algorithm, and the typical fault situation is simulated. Finally, the analysis of the simulation results shows that when the actuator fails, the distribution algorithm can realize the redistribution of control inputs to ensure the vehicle’s driving safety and continuity.
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