Optimal Fault-Tolerant Path-Tracking Control for 4WS4WD Electric Vehicles

被引：89

作者：

Yang, Hao ^{[1
,2
]}

Cocquempot, Vincent ^{[2
]}

Jiang, Bin ^{[1
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Peoples R China

[2] Univ Sci & Tech Lille Flandres Artois, CNRS, UMR 8146, Lab Automat Genie Informat & Signal, F-59655 Villeneuve Dascq, France

来源：

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS | 2010年 / 11卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Bounded hybrid control; electric vehicles (EVs); fault-tolerant control (FTC); path tracking; LINEAR-QUADRATIC CONTROL; DIAGNOSTIC SYSTEM; HYBRID;

D O I：

10.1109/TITS.2009.2033374

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

This paper investigates the path-tracking problem for four-wheel-steering and four-wheel-driving electric vehicles with input constraints, actuator faults, and external resistance. A hybrid fault-tolerant control approach, which combines the linear-quadratic control method and the control Lyapunov function technique, is proposed. It not only maintains the vehicle's tracking performance in spite of faults, input constraints, and external resistance but also reduces the cost of the fault-tolerant process. A prototype vehicle from the Laboratoire d'Automatique, Genie Informatique et Signal (LAGIS), is particularly focused on illustrating the applicability of our approach.

引用

页码：237 / 243

页数：7

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