Abstract
In this paper we propose a fault tolerant control method which is capable of mitigating steering and drive-train system failures. By utilizing the steering system and the drive-train system complementarily, the proposed method will not need an additional redundancy for the fault tolerant purpose. For the steering system failure which should be detected and managed rapidly, the proposed method utilizes the disturbance observer idea to eliminate the fault detection. On the other hand, for the drive-train system failure, a fault detection is equipped. The effectiveness of this method has been verified in simulation.
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