文章基本信息

标题：Multiple Fault-Tolerant In-Wheel Vehicle Control Based on High-level Control Reconfiguration
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作者：András Mihály ; Péter Gáspár ; Balázs Németh 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：8606-8611
DOI：10.1016/j.ifacol.2017.08.1428
语种：English
出版社：Elsevier
摘要：AbstractThe paper deals with the fault-tolerant reconfigurable control design of a four-wheel independently-actuated (4WIA) electric vehicle. The purpose of the proposed method is to ensure the velocity and path tracking of the 4WIA vehicle in the event of a fault or performance degradation in one or even several in-wheel electric motors. The novelty of the presented method is the high-level control reallocation method based on the Linear Parameter Varying (LPV) control framework, by which the torque vectoring and steering of the vehicle are modified in order to deal with the impact of faulty in-wheel motors. The operation of the designed fault-tolerant method is validated in CarSim simulation environment.
关键词：Keywordsin-wheel vehicle4WIA vehiclereconfigurable controltrajectory tracking