Passive Variable-Structure Fault-Tolerant Control for an Electrical 4WD Vehicle subject to Input Saturation
Résumé
This paper investigates the path tracking problem for an electrical vehicle (EV) which has four electromechanical wheel systems under normal and faulty conditions. In order to maintain the vehicle stability in operation and obtain the given performance, a fault-tolerant control scheme based on variable structure control is developed. This control scheme is robust to the loss of actuator effectiveness and considers control-input saturation simultaneously. Lyapunov stability analysis shows that the closed-loop system is stable. Simulations of traction engine faults in RobuCarTM situation are used to test the feasibility and efficiency of the proposed control method