2023
DOI: 10.1109/access.2023.3336416
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Torque Fault-Tolerant Hierarchical Control of 4WID Electric Vehicles Based on Improved MPC and SMC

Xun Huang,
Yunfei Zha,
Xiaolong Lv
et al.

Abstract: The 4-wheel independent drive (4WID) electric vehicle has better safety and stability. However, the multi-motor drive system would lead to an increased fault probability in the vehicle. In particular, the uncertainty of fault motors and parameter disturbances could lead to uncertainties in control. This study presents a fault-tolerant hierarchical control approach that utilizes an improved Model Predictive Control (MPC) to address the problem. The proposed method employs Sliding Mode Control (SMC) in the upper… Show more

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Cited by 3 publications
(1 citation statement)
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“…Currently, fault-tolerant control strategies of braking systems mainly realize error tolerance by redistributing the braking force and seldom consider the influence of the failure itself on the fault-tolerant controller, and the research objects are mainly focused on passenger cars, especially four-wheel independent drive electric vehicles [29][30][31], while relatively little research has been carried out on EBS for commercial vehicles. Therefore, we established a generalized fault model based on EBS to simulate the vast majority of faults that may occur in the actual operation of vehicles.…”
Section: Introductionmentioning
confidence: 99%
“…Currently, fault-tolerant control strategies of braking systems mainly realize error tolerance by redistributing the braking force and seldom consider the influence of the failure itself on the fault-tolerant controller, and the research objects are mainly focused on passenger cars, especially four-wheel independent drive electric vehicles [29][30][31], while relatively little research has been carried out on EBS for commercial vehicles. Therefore, we established a generalized fault model based on EBS to simulate the vast majority of faults that may occur in the actual operation of vehicles.…”
Section: Introductionmentioning
confidence: 99%