A hybrid fault-tolerant control strategy for four-wheel independent drive vehicles

In this paper, a hybrid fault-tolerant control strategy is putted forward to improve the stability of the four-wheel independent drive (4WID) electric vehicle with motor failures. To improve the handling performance of the vehicle with in-wheel motor failures, the faults of in-wheel motors are analyzed and modeled. Then, a model reference adaptive fault observer was designed to observe the faults in real-time. Based on the observation results, there are designed a model predictive control (MPC) based high-performance active fault-tolerant control (AFTC) strategy and a sliding mode control based high-robust passive fault-tolerant control (PFTC) strategy. However, the fault observation results may not always be accurately. For this circumstance, a hybrid fault-tolerant control strategy was designed to make the control method find a balance between optimality and robustness. Finally, a series of simulations are conducted on a hardware-in-loop (HIL) real-time simulator, the simulation results show that the control strategy designed in this paper is effectiveness.