Abstract
The paper presents a fault tolerant control (FTC) strategy for maintaining the lateral stability of a 4WS4WD autonomous vehicle in presence of an unknown component fault. It is designed using the flatness theory and the backstepping technique, and consists in actively controlling the vehicle's rear-wheel steering system. In a normal situation, only the front-wheel steering actuator is used since it is able to ensure the desired tracking performances on its own. However, for different faulty scenarios, it is needed to use actively the vehicle rear-wheel steering system in order to preserve the system's lateral stability. We prove that, by using this strategy, faults on the traction and the steering systems can be tolerated. The main advantage of our fault tolerant scheme is that these faults can be compensated by online computing new references for the control loops without changing the controller, providing the necessary time for a diagnosis system to precisely isolate the faulty component. This method is tested and validated on a realistic vehicle dynamic model co-simulated using CarSim and Matlab-Simulink softwares.
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