NDLI: Passive Actuator Fault-Tolerant Control for a Class of Overactuated Nonlinear Systems and Applications to Electric Vehicles

Content Provider	IEEE Xplore Digital Library
Author	Wang, R. Wang, J.
Copyright Year	1967
Abstract	This paper presents a passive actuator fault-tolerant (FT) controller for a class of overactuated nonlinear systems and its experimental investigations on an electric vehicle. As the actuator fault information is unknown before the fault detection and diagnosis procedure finishes, the passive FT control is of great necessity in maintaining system stability and achieving acceptable performance. In this paper, three types of actuator faults are considered, and a passive FT controller that works for all of the studied fault types is designed. By grouping control efforts that have similar effects on the system into the same subsystem, the proposed control method can automatically distribute the higher level control signals to the actuators while minimizing a defined cost function. The FT control method was applied to control of a four-wheel-independently-actuated (FWIA) electric ground vehicle. Experimental results obtained on a FWIA electric vehicle show the effectiveness of the proposed method.
Sponsorship	IEEE Vehicular Technology Society
Starting Page	972
Ending Page	985
Page Count	14
File Size	2620216
File Format	PDF
ISSN	00189545
Volume Number	62
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-03-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Additives Vehicles Vectors Tires Force Bismuth in-wheel/hub motor Control electric ground vehicle (EGV) fault tolerant
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Automotive Engineering Computer Networks and Communications Electrical and Electronic Engineering Aerospace Engineering

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