Fault-tolerant Control for Distributed-drive Electric Vehicles Considering Individual Driver Steering Characteristics

Abstract

This paper proposes a fault-tolerant control method for distributed-drive electric vehicles (DD-EV) considering individual driver steering characteristics that may vary among human drivers. Both vehicle and driver models are explicitly utilized for the fault-tolerant control design with considerations on modeling inaccuracies. A sliding-mode control scheme is generated to tolerate the DD-EV actuator fault and control the vehicle motions in a tailored cooperation with the specific driver. Such a personalized and fault-tolerant control method can specifically assist the human driver in post-fault vehicle motion control and reduce both physical and mental workloads of the driver. Co-simulation results of the controller using Matlab and CarSlm®indicate that the control law can provide appropriate control assistance to different drivers, achieving effective human-vehicle control cooperation in post-fault vehicle maneuvers.