Robust and fault-tolerant control of in-wheel vehicles with cornering resistance minimization

András Mihály, P. Gáspár

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The paper proposes a robust fault-tolerant trajectory and velocity tracking control for a four-wheel independently-actuated (4WIA) vehicle operated by in-wheel electric motors and a steer-by-wire steering system. The vehicle is basically operated with in-wheel motors using torque vectoring during cornering, thus steering is only applied when the vehicle is skidding, an electric motor has failed or the cornering maneuver is more efficiently realizable with applying a given amount of steering angle. A reconfigurable method is applied, which is capable of reallocating the actuator inputs in order to minimize cornering resistance and the consequent power loss of the in-wheel motors. In case of skidding or in-wheel motor failure, the energy optimal control allocation is substituted for by a fault-tolerant actuator intervention. The high-level reconfiguration control of the 4WIA is based on the LPV (Linear Parameter Varying) method, while the cornering resistance minimization and wheel torque allocation are based on constrained optimization techniques. The operation of the energy optimal and fault-tolerant control is demonstrated in the CarSim simulation environment.

Original languageEnglish
Title of host publication2016 European Control Conference, ECC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2590-2595
Number of pages6
ISBN (Electronic)9781509025916
DOIs
Publication statusPublished - Jan 6 2017
Event2016 European Control Conference, ECC 2016 - Aalborg, Denmark
Duration: Jun 29 2016Jul 1 2016

Other

Other2016 European Control Conference, ECC 2016
CountryDenmark
CityAalborg
Period6/29/167/1/16

Fingerprint

Vehicle wheels
Fault-tolerant Control
Wheel
Wheels
Skidding
Electric Motors
Electric motors
Fault-tolerant
Torque
Actuator
Actuators
Torque motors
Level control
Constrained optimization
Tracking Control
Constrained Optimization
Simulation Environment
Reconfiguration
Energy
Optimization Techniques

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization

Cite this

Mihály, A., & Gáspár, P. (2017). Robust and fault-tolerant control of in-wheel vehicles with cornering resistance minimization. In 2016 European Control Conference, ECC 2016 (pp. 2590-2595). [7810680] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ECC.2016.7810680

Robust and fault-tolerant control of in-wheel vehicles with cornering resistance minimization. / Mihály, András; Gáspár, P.

2016 European Control Conference, ECC 2016. Institute of Electrical and Electronics Engineers Inc., 2017. p. 2590-2595 7810680.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mihály, A & Gáspár, P 2017, Robust and fault-tolerant control of in-wheel vehicles with cornering resistance minimization. in 2016 European Control Conference, ECC 2016., 7810680, Institute of Electrical and Electronics Engineers Inc., pp. 2590-2595, 2016 European Control Conference, ECC 2016, Aalborg, Denmark, 6/29/16. https://doi.org/10.1109/ECC.2016.7810680
Mihály A, Gáspár P. Robust and fault-tolerant control of in-wheel vehicles with cornering resistance minimization. In 2016 European Control Conference, ECC 2016. Institute of Electrical and Electronics Engineers Inc. 2017. p. 2590-2595. 7810680 https://doi.org/10.1109/ECC.2016.7810680
Mihály, András ; Gáspár, P. / Robust and fault-tolerant control of in-wheel vehicles with cornering resistance minimization. 2016 European Control Conference, ECC 2016. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 2590-2595
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