Fault-Tolerant Control of Electric Ground Vehicles Using a Triple-Step Nonlinear Approach

Wang, Yulei; Yu, Shuyou; Yuan, Jun; Chen, Hong

doi:10.1109/tmech.2018.2837128

Cited by 33 publications

(3 citation statements)

References 29 publications

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“…With respect to brake and drive degradations, most publications -namely 66 -consider zero torque [29, 45, 48-50, 54, 55, 57, 58, 65, 66, 68, 70, 74, 76-80, 83-86, 88-93, 95, 97, 98, 101-110, 116, 122, 126, 128, 133-137, 141-143, 145, 147, 150, 155, 159-163, 167, 175, 177] followed by a reduced torque range with 54 publications [30-33, 38, 40, 43, 45, 51, 52, 64, 66-68, 74, 82, 94, 109, 114, 115, 117, 120, 121, 123, 124, 126, 127, 129-131, 138-142, 144-146, 149, 150, 152, 159, 162, 163, 165-168, 170, 172-176]. 15 publications assume a constant torque [39,42,67,69,70,119,126,127,142,144,146,150,156,157,176], whereas only six consider locking or spinning wheels [58, 103-105, 126, 158]. Last but not least, a sole publication addresses malfunctioning anti-lock and anti-spin control systems [126], which is not displayed in Table I.…”

Section: Degradationsmentioning

confidence: 99%

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Stolte

2021

Preprint

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The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional redundancies among the actuators, is one means to achieve the required degree of fault tolerance. Therefore, we give a comprehensive overview of the state of the art in actuator fault-tolerant vehicle motion control with a focus on drive, brake, and steering degradations, as well as tire blowouts. This review shows that actuator fault-tolerant vehicle motion is a widely studied field; yet, the presented approaches differ with respect to many aspects. To provide a starting point for future research, we survey the employed actuator topologies, the tolerated degradations, the presented control approaches, as well as the experiments conducted for validation. Overall, and despite the large number of different approaches, the covered literature reveals the potential of increasing fault tolerance by fault-tolerant vehicle motion control. Thus, besides developing novel approaches or demonstrating real-time applicability, future research should aim at investigating limitations and enabling comparison of fault-tolerant motion control approaches in order to allow for a thorough safety argumentation.

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Section: Degradationsmentioning

confidence: 99%

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Stolte

2021

Preprint

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“…To increase the applicability range, the FTC control method in [14] considers the loss-of-effectiveness fault and the bias fault in the vehicle modeling. A three-step FTC scheme taking into account uncertain parameters, external disturbances and actuator faults has been proposed in [15], where the issues on parametric uncertainty and faults are mitigated using Lyapunov techniques. Despite these great advances in EVs control, the power consumption of EVs has not been well addressed for the control design.…”

Section: Introductionmentioning

confidence: 99%

Fault-Tolerant Predictive Control With Deep-Reinforcement-Learning-Based Torque Distribution for Four In-Wheel Motor Drive Electric Vehicles

Deng

Zhao

Nguyen

et al. 2023

IEEE/ASME Trans. Mechatron.

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This paper proposes a fault-tolerant control (FTC) method for four in-wheel motor drive electric vehicles considering both vehicle stability and motor power consumption. First, a seven degrees-of-freedom vehicle nonlinear model integrating motor faults is built to design a hierarchical FTC control scheme. The control structure is composed of two levels: an upperlevel nonlinear model predictive controller and a lower-level fault-tolerant coordinated controller. The upper-level controller provides an appropriate reference in terms of additional yaw moment and vehicle longitudinal force, required for vehicle stability control, to the lower-level controller. This latter aims at distributing the four-wheel torques taking into account both vehicle stability and power consumption. Specifically, the weighting factor involved in the optimization-based design of the lower-level controller is determined online by the randomized ensembled double Q−learning reinforcement learning algorithm to achieve an optimal control strategy for the whole vehicle operating range. Moreover, the tradeoff between vehicle stability and power consumption is analyzed, and the necessity of using reinforcement learning is discussed. Numerical experiments are performed under various driving scenarios with a high-fidelity CarSim vehicle model to demonstrate the effectiveness of the proposed control method. Via a comparative study, we highlight the advantages of the new FTC control method over many related existing control results in terms of improving the vehicle stability and driver comfort, as well as reducing the power consumption.

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“…Similarly, a disturbance observer-based composite nonlinear feedback control law was proposed to realize the path-following control considering the transient performance (Hu et al, 2016b). In Wang et al (2018), a triple-step approach-based FTC strategy for electric ground vehicles was developed under an adaptive control framework, and a related controller in discrete time was proposed in Wang et al (2019), therein introducing a posteriori estimates to achieve asymptotic convergence of the tracking errors. However, the basic form of Lyapunov’s theorem is only applicable to vehicle dynamics, and stability theory for path-tracking control is not well established.…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant path-tracking control of autonomous electric ground vehicles with lateral prescribed performance

Wang

Yin

et al. 2020

Transactions of the Institute of Measurement and Control

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To improve the performance and robustness of autonomous electric ground vehicles, we present a novel triple-step control architecture employing a lateral prescribed performance scheme to design an adaptive fault-tolerant controller to realize the nonlinear path-tracking manoeuvers against uncertainties, disturbances and even a total failure of steering capability. It is proved that the closed-loop system based on the developed control framework guarantees a regulation of the lateral offset with prescribed performance. The major advantage over conventional path-tracking control frameworks is that our approach can guarantee both the transient and the steady-state performance of the system under a broad range of driving conditions with robustness to model uncertainties, disturbances and even faults. Finally, simulation results are presented to demonstrate the superiority of the proposed scheme.

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Fault-Tolerant Control of Electric Ground Vehicles Using a Triple-Step Nonlinear Approach

Cited by 33 publications

References 29 publications

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Fault-Tolerant Predictive Control With Deep-Reinforcement-Learning-Based Torque Distribution for Four In-Wheel Motor Drive Electric Vehicles

Fault-tolerant path-tracking control of autonomous electric ground vehicles with lateral prescribed performance

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