Robust fault-tolerant control for four-wheel individually actuated electric vehicle considering driver steering characteristics

摘要

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. (C) 2021 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.