Adaptive Sliding Mode Fault Tolerant Control for Autonomous Vehicle With Unknown Actuator Parameters and Saturated Tire Force Based on the Center of Percussion

Abstract

With consideration of tire force saturation in vehicle motions, a novel path-following controller is developed for autonomous vehicles with unknown-bound disturbances and unknown actuator parameters. An adaptive sliding-mode faulttolerant control (ASM-FTC) strategy is designed to stabilize the path-following errors without any information of disturbance boundaries, actuator fault boundaries and steering ratio from the steering wheel to the front wheels. By selecting the distance from the center of gravity to the center of percussion as the preview length, the effects of the lateral rear-tire force are decoupled and cancelled out, and then the preview error, which represents the path-following performance, can be only commanded by the front-tire force. To further address the issue of unknown tireroad friction limits, a modified ASM-FTC strategy is presented to improve the path-following performance as the lateral tire force is saturated. Simulation results show that the modified ASM-FTC controller demonstrates superior tracking performance over the normal ASM-FTC while the autonomous vehicle follows desired paths.

Research on Yaw Stability Control of Front-Wheel Dual-Motor-Driven Driverless Formula Racing Car

“…Z. Liang et al proposed an adaptive sliding mode fault-tolerant control (ASM-FTC) strategy to stabilize the error by taking into account the tire force saturation in the vehicle motion [8]. S. Aleksandr and Y.…”