Abstract
Failure of any of the drive systems in a Four-Wheel Independent Drive (4WID) electric vehicle may affect the control performance and driving safety of the whole vehicle. Therefore, in this paper, a fault-tolerant controller (FTC) for 4WID electric vehicles considering drive actuator failures is proposed. First, a comprehensive characterization of multiple fault types is achieved by establishing a generalized fault model and designing a comprehensive fault factor. Second, based on the comprehensive fault factor, an LPV model with faults is constructed. Further, a fault-tolerant controller based on LPV/H∞ output feedback is designed by combining the weighting function. Finally, the effectiveness of the FTC in this paper is verified by simulation and hardware-in-the-loop (HIL) experiments. The experimental results show that the FTC designed in this paper can improve the stability of the vehicle traveling while ensuring tracking accuracy when the drive system fails.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
