Active Fault-Tolerant Control for Electric Vehicles With Independently Driven Rear In-Wheel Motors Against Certain Actuator Faults

Abstract

An active fault-tolerant control (AFTC) system is proposed in this paper for electric vehicles with independently driven in-wheel motors (IWMs). It comprises a baseline controller, a set of reconfigurable controllers, a fault detection and diagnosis (FDD) mechanism, and a decision mechanism. The baseline controller, which is actually a passive fault-tolerant controller, is applied to accommodate actuator faults and stabilize the faulty vehicle when the actuator fault occurs. After the fault is detected and estimated by the FDD mechanism, a proper reconfigurable controller is switched ON to achieve optimal postfault performance. Taking advantage of the robust gain-scheduling algorithm, the loss-of-effectiveness and additive faults of the IWMs can be accommodated by the baseline controller, and the estimation error of the FDD mechanism can be tolerated by the reconfigurable controllers. The results of simulations in CarSim and vehicle experimental tests show the effectiveness of this AFTC system in dealing with certain IWM faults.