<i>H</i><sub>∞</sub> Robust Fault-tolerant Control for Lateral Stability of Four-wheel Independent Driving Electric Vehicles

LONG Yunze; FENG Jin; ZHANG Ruibin; WEI Tao

doi:10.13433/j.cnki.1003-8728.20220182

Volume 42 Issue 1

Jan. 2023

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Article Navigation > Mechanical Science and Technology for Aerospace Engineering > 2023 > 42(1): 92-98

LONG Yunze, FENG Jin, ZHANG Ruibin, WEI Tao. H∞ Robust Fault-tolerant Control for Lateral Stability of Four-wheel Independent Driving Electric Vehicles[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(1): 92-98. doi: 10.13433/j.cnki.1003-8728.20220182

Citation:

LONG Yunze, FENG Jin, ZHANG Ruibin, WEI Tao. H_∞ Robust Fault-tolerant Control for Lateral Stability of Four-wheel Independent Driving Electric Vehicles[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(1): 92-98. doi: 10.13433/j.cnki.1003-8728.20220182

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H_∞ Robust Fault-tolerant Control for Lateral Stability of Four-wheel Independent Driving Electric Vehicles

doi: 10.13433/j.cnki.1003-8728.20220182

School of Automobile Engineering, Guilin University of Aerospace Technology, Guilin 541004, Guangxi, China

Received Date: 2021-11-26
Publish Date: 2023-01-25

Abstract

Abstract

In order to solve the problem of lateral stability control when actuator and sensor faults occur in four-wheel independent driving electric vehicles with parameter uncertainty, an H_∞ robust fault-tolerant control method is proposed. A two degree of freedom vehicle dynamic model with parameter uncertainty considering actuator and sensor faults is established by introducing vehicle continuous fault with fault matrix function. The linear matrix inequality method is used to design the lateral stability H_∞ robust fault-tolerant controller of vehicle to ensure the asymptotic stability and anti-interference ability of the vehicle dynamics system, and realize that the H_∞ robust performance of the control system meets the given interference attenuation target. A joint simulation experiment platform of CarSim and MATLAB/Simulink is built to verify the effectiveness of the controller. Simulation results show that the designed H_∞ robust fault-tolerant controller can effectively improve the lateral stability and safety of vehicles, and has good fault-tolerant control ability for vehicle faults.
- four-wheel independent drive,
- electric vehicle,
- H_∞ robust control,
- fault-tolerant control

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References

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