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Fault‐tolerant path‐following control for in‐wheel‐motor‐driven autonomous ground vehicles with differential steering
Author(s) -
Wang Yulei,
Zong Changfu,
Guo Hongyan,
Chen Hong
Publication year - 2020
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1976
Subject(s) - electronic differential , differential (mechanical device) , steering linkage , control theory (sociology) , fault tolerance , steering wheel , engineering , path (computing) , active steering , torque , automotive industry , unmanned ground vehicle , track (disk drive) , control (management) , control engineering , torque steering , computer science , automotive engineering , artificial intelligence , aerospace engineering , mechanical engineering , telecommunications , physics , reliability engineering , thermodynamics , programming language
Over the past several decades, the automobile industry has denoted significant research efforts to developing in‐wheel‐motor‐driven autonomous ground vehicles (IWM‐AGVs) with active front‐wheel steering. One of the most fundamental issues for IWM‐AGVs is path following, which is important for automated driving to ensure that the vehicle can track a target‐planned path during local navigation. However, the path‐following task may fail if the system experiences a stuck fault in the active front‐wheel steering. In this paper, a fault‐tolerant control (FTC) strategy is presented for the path following of IWM‐AGVs in the presence of a stuck fault in the active front‐wheel steering. For this purpose, differential steering is used to generate differential torque between the left and right wheels in IWM‐AGVs, and an adaptive triple‐step control approach is applied to realize coordinated lateral and longitudinal path‐following maneuvering. The parameter uncertainties for the cornering stiffness and external disturbances are considered to make the vehicles robust to different driving environments. The effectiveness of the proposed scheme is evaluated with a high‐fidelity and full‐car model based on the veDYNA‐Simulink joint platform.