Fault Tolerant Control for an Electric 4WD Vehicle's Path Tracking with Active Fault Diagnosis

Motion Control of a 4WS4WD Path‐Following Vehicle: Further Studies on Steering and Driving Models

“…Due to outstanding maneuvering and acceleration performances, the 4WS4WD vehicles [1,2] have been received attentions from researchers and engineers in recent years. Major concerns are motion controls of these overactuated vehicles, e.g., lateral stability control [3][4][5][6][7] and autonomous path-following control [8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23]. Vehicle lateral control systems can help the drivers to change the lanes safely or assist them in performing evasive maneuvers.…”

Adaptive fault‐tolerant control of mobile robots with actuator faults and unknown parameters

“…Recently, lots of fault‐tolerant control strategies have been established in mobile robots. The faults of partial loss of control effectiveness of two‐/four‐wheel driving mobile robots were dealt with by using sliding mode control [35–37], MPC [38], and fault diagnosis‐based approach [39]. Iterative learning controllers and distributed local controllers are constructed in [40, 41], respectively, to ensure the trajectory tracking and satisfactory transient performances of two driving wheel mobile robots subjected to bias‐actuator faults.…”

Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control

“…As for the application to wheeled mobile robots, some fault diagnosis methods are developed (e.g., Fourlas et al, 2015;Goel et al, 2000;Skoundrianos and Tzafestas, 2004), a sensor fault accommodation scheme is presented by Ji and Sarkar (2007), some fault-tolerant control systems are designed by Koh et al (2012), Zhang and Cocquempot (2014), Rotondo et al (2014), Kim et al (2015), and Aref et al (2015) for four-wheel drive robots, and a hybrid fault adaptive control scheme is designed by Ji et al (2003) to accommodate partial faults and degradation for two-wheel drive (2WD) mobile robots. However, even if it is important to compensate a partial loss of wheel-motor effectiveness, the actuators (motors) of a wheeled mobile robot may also be totally faulty.…”