Combined Fault-Tolerant Control with Optimal Control Allocation for Four-Wheel Independently Driven Electric Vehicles

This paper presents a combined fault-tolerant control (FTC) strategy with optimal control allocation (CA) for four-wheel independently driven electric vehicles. Under some motor fault situations, the motor may not output expected torque due to the actuator constraint. Therefore, the performances and the stability of the vehicle will be degraded. In this proposed FTC, two optimal CA schemes are combined. When some motors' fault happens, one of them is selected to maintain the motion of the vehicle according to weather actuators exceed their saturation constraints. Simulations using a high-fidelity CarSim vehicle model demonstrate the effectiveness of the combined FTC strategy.