Cooperative Game-Based Driver Assistance Control for Vehicles Suffering Actuator Faults

To assist different styles of drivers to maintain vehicle stability in the event of actuator function failures, this paper proposes a cooperative game-based robust fault-tolerant control (FTC) strategy for four-wheel independent actuated electric vehicles. The Takagi-Sugeno fuzzy structure is used to model a driver-vehicle system to describe driver characteristics in the FTC scheme and deal with the nonlinearity among states of the complex system. Viewing the FTC process as a dynamic cooperative game so that the actuators of the driver-vehicle system are described as the players. The interactions among players are modeled by the distributed model predictive control scheme. Finally, an adaptive compensation control mechanism is developed to make the cooperative game paradigm more robust. Simulation verification is used to reveal the influence and the inherent characteristics of task weights in the cooperative game. Besides, two severe failure cases are studied via the hardware-in-the-loop test to prove that the proposed method can maintain the stability of the failed vehicle driving by different drivers.