Robust fault-tolerant control for four-wheel individually actuated electric vehicle considering driver steering characteristics |
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| Authors: | Bohan Zhang Shaobo Lu Wenjuan Wu Caixia Li Jiafeng Lu |
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| Institution: | 1. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, PR China;2. College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing 400044, PR China;1. School of Automation and Information Engineering, Xi’an University of Technology, China;2. Autonomous Systems and Intelligent Control International Joint Research Center, Xi’an Technological University, China;3. State Key Laboratory of Astronautic Dynamics, China;1. School of Automation, Nanjing University of Science and Technology, Nanjing 210094, PR China;2. School of Electrical and Automation Engineering, Nanjing Normal University, Nanjing 210023, PR China;3. School of Science, Huzhou Teachers College, Zhejiang, Huzhou 313000, PR China;1. School of Electrical Engineering, Shenyang University of Technology, Shenyang 110870, PR China;2. College of Information Science and Engineering, Northeastern University, Shenyang 110819, PR China;3. Promotion China PH.D Program, BMW Brilliance Automotive Ltd., Shenyang, Liaoning 110143, PR China;1. Key Laboratory of Smart Manufacturing in Energy Chemical Process, East China University of Science and Technology, Ministry of Education, Shanghai 200237, China;2. Shanghai Institute of Intelligent Science and Technology, Tongji University, Shanghai 200092, China;1. Department of Mechanical Engineering, McMaster University, Hamilton, Canada;7. School of Mechanical Engineering, Southeast University, Nanjing, China;71. Department of Mechanical Engineering, Guilin University of Aerospace Technology, Guilin, China |
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| Abstract: | A robust fault-tolerant control scheme for distributed actuated electric vehicles is proposed to maintain vehicle stability suffering actuator faults while considering the driver personality differences. The proposed scheme integrates the cooperative game and terminal sliding mode control into the framework of the feedback linearization method (FLM). Firstly, the nonlinearities of the driver-vehicle system are treated by the knowledge of Lie derivative, and then a set of controllable virtual subsystems is obtained through diffeomorphism. To achieve multi-objective cooperation, the interaction framework of virtual subsystems is modeled based on cooperative game theory, which provides a basic feedback control scheme (BFCS). Finally, a terminal sliding mode technology-based active compensation control scheme is integrated into BFCS to handle the systemic disturbances caused by actuator faults. An implementation of hardware-in-the-loop verifies that the stability of the vehicle under the control of the developed approach can be guaranteed for different drivers and different fault types. |
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