Abstract
This paper investigates the path tracking problem for an electric vehicle which has four electromechanical wheel systems under normal and faulty conditions. With considering wheel slip constraints and certain actuator faults, a passive fault-tolerant controller based on variable structure control is developed to maintain the system stability and guarantee the acceptable tracking performance. Then based on the designed controller, a simple active fault diagnosis approach is introduced for this typical over-actuated system to isolate and evaluate faults more precisely. With the diagnosed information, an accommodated fault tolerant controller is designed to maintain the tracking performance. Finally, simulations of traction engine multiple faults are conducted to illustrate the proposed method.
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