Integrated Path‑Following and Fault‑Tolerant Control for Four‑Wheel Independent‑Driving Electric Vehicles

作     者：Yuwei Tong Cong Li Gang Wang Hui Jing 

作者机构：School of Mechanical and Electrical EngineeringGuilin University of Electronic TechnologyGuilinChina School of Mechanical EngineeringGuilin University of Aerospace TechnologyGuilinChina 

出 版 物：《Automotive Innovation》 (汽车创新工程（英文）)

年 卷 期：2022年第5卷第3期

页      面：311-323页

核心收录：

学科分类：082304[工学-载运工具运用工程] 08[工学] 080204[工学-车辆工程] 0802[工学-机械工程] 0823[工学-交通运输工程] 

基　　金：supported by Natural Science Foundation of Guangxi Province,(2020GXNSFAA297031,2021AA04006) National Natural Science Foundation of China(51605108) Innovation Project of Guilin University of Electronic Technology(2021YCXS007) 

主　　题：Fault-tolerant control Model predictive control Second-order sliding mode control Path following 

摘      要：Autonomous vehicles are prone to instability when the motors of the four-wheel independent-driving electric vehicles fail at high driving speed on low-adhesion *** improve the vehicle tracking performance in the expected path and ensure vehicle stability when the motor fails,this paper designs an integrated path-following and passive fault-tolerant *** path-following controller is designed to improve the vehicle path-following performance based on model predictive control(MPC),while the passive fault-tolerant controller is used to ensure vehicle stability when the motor ***,a vehicle dynamic model is established and simplified,and an MPC controller based on a state-space equation is ***,taking the motor fault as a fault factor,a first-order sliding mode fault-tolerant controller is *** first-order sliding mode fault-tolerant controller takes the vehicle’s yaw rate and sideslip angle into ***,to address the chattering problem of the traditional first-order sliding mode fault-tolerant controller,a second-order sliding mode fault-tolerant controller with a disturbance observer is ***,the developed controller is tested using the Simulink/Carsim platform and applied to a Raspberry Pi 4B for controller hardware-in-the-loop *** and experi-ment results show the practicability and effectiveness of the proposed integrated control strategy.