Fault-tolerant control of wire controlled four-wheel steering vehicle based on fault observer
To tackle the problems of external interference and actuator failure in wire controlled four-wheel steer vehicles,a linear two-degree-of-freedom vehicle dynamics model including actuator fault and interfer-ence is established,an improved fault observer is designed for fault diagnosis,and actuator failures are esti-mated by fault observer and the convergence analysis of the observer is given.In order to ensure the stabili-ty of the vehicle after failure or to be able to move according to the desired trajectory,a fault-tolerant con-troller is designed with the goal of tracking the reference model,so that the vehicle can track the reference side slip angle and yaw rate in the event of a fault.Finally,based on Matlab/Simulink,the simulation is verified,and the results show that the proposed method can improve the fault tolerance performance in actu-ator fault.
four-wheel steering vehiclefault observerfailure estimationfault-tolerant control
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