Multiple Fault-Tolerant In-Wheel Vehicle Control Based on High-level Control Reconfiguration * *The research was supported by the National Research, Development and Innovation Fund through the project "SEPPAC: Safety and Economic Platform for Partially Automated Commercial vehicles" (VKSZ 14-1-2015-0125). This paper was supported by the János Bolyai Research Scholarship of the Hungarian Academy of Sciences.

Abstract

Abstract The paper deals with the fault-tolerant reconfigurable control design of a four-wheel independently-actuated (4WIA) electric vehicle. The purpose of the proposed method is to ensure the velocity and path tracking of the 4WIA vehicle in the event of a fault or performance degradation in one or even several in-wheel electric motors. The novelty of the presented method is the high-level control reallocation method based on the Linear Parameter Varying (LPV) control framework, by which the torque vectoring and steering of the vehicle are modified in order to deal with the impact of faulty in-wheel motors. The operation of the designed fault-tolerant method is validated in CarSim simulation environment.