On One Approach to Constraining the Combined Wheel Slip in the Autonomous Control of a 4WS4WD Vehicle

Active fault diagnosis based on fault-tolerant control with control constraints for an electric 4WD vehicle

“…Fxi and Fyi are traction forces which are mainly result from the tire-road friction and Ti is the wheel torque. The dynamical equations of the three subsystems can be expressed as follows [2]:…”

“…Introducing the integral compensation z = [z1 z1 z3] to eliminate steady-state error [2], whereż = [∂υ β yc], we can get the following augmented systeṁ where ΥH > 0 is a parameter to be chosen. For a given κ > 0, if there exist a positive symmetric matrix Pε that satisfy…”

“…Then a path tracking control scheme proposed by [1]- [2] is adopted for the RobuCar TM in Section III. The FT controller with observer-based fault diagnosis is presented in Section IV, the input constraints and resistances are also taken into consideration.…”

Path-Tracking Control of an Autonomous 4WS4WD Electric Vehicle Using Its Natural Feedback Loops

“…Research on 4WS4WD EVs has focused on the problems of tire-force distribution [1], [6], development of prototypes and laboratory scale testbeds [7], path-tracking control (PTC) [8]- [12], faulttolerant PTC [13], and fault-tolerant control of the motors [14]. This brief restricts itself to developing a simple solution to the problem of PTC.…”

“…Peng [8] and Peng et al [9] use linearization, singular perturbation, robust bounded control, algebraic Riccati equations, and linear matrix inequalities. Li et al [14] use Lyapunov stability theory to develop fault-tolerant controllers for the driving and steering motors.…”