Coordinated fault tolerant control of over-actuated electric vehicles based on optimal tyre force distribution
by Yugong Luo; Kun Cao; Laiqing Xie; Keqiang Li
International Journal of Vehicle Design (IJVD), Vol. 75, No. 1/2/3/4, 2017

Abstract: Actuator faults of the driving/steering/suspension subsystems may lead to instability in over-actuated electric vehicles. Though many fault tolerant control methods that rely on partial subsystems exist, a novel coordinated fault tolerant control (CFTC) method based on optimal longitudinal/lateral/vertical tyre force distribution is proposed. First, the coordination principle of all the actuator subsystems is explained using vehicle dynamics control equations. Then, an optimal longitudinal/lateral/vertical tyre force distribution method is established. Results of simulations and hardware-in-the-loop (HIL) experiments show that the CFTC method successfully coordinates all the subsystems to compensate actuator faults and effectively improve vehicle stability and safety.

Online publication date: Tue, 03-Apr-2018

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