The multi actuator advantage of distributed drive electric vehicles (DDEVs) provides excellent driving characteristics. When necessary onboard components such as actuators and sensors fail, redundant features provide more stable solutions. We propose a fault-tolerant strategy based on a Highorder Fully Actuated (HOFA) system method framework for DDEVs. Firstly, a feedforward controller for HOFA system is established, which ensures the steady-state tracking capability. Due to fully actuated characteristics, external uncertainty factors can be almost completely eliminated. Therefore, it is considered to establish an Extended State Observer (ESO) to handle the nonlinear factors of steering subsystem faults. Furthermore, a Nash equilibrium game is employed to determine the optimal fault-tolerant strategy, which aims to ensure that, in the event of a fault, the motion and stability indicators can effectively track the desired trajectory by controlling the torque of the four wheels and the power of the backup steering motor. Simulation experiments have shown that the proposed fault-tolerant control strategy can maintain the normal operating state of the vehicle when the steering motor fails.


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    Title :

    High-Order Fully Actuated System Approach-Based Active Steering Fault-Tolerant Control of Distributed Drive Electric Vehicles


    Contributors:
    Wang, Yuchen (author) / Zhu, Guanyu (author) / Wu, Chengye (author) / Zhang, Yahui (author) / Tian, Yang (author)


    Publication date :

    2025-05-16


    Size :

    806774 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English