Active Fault-Tolerant Control of a Four-Wheel Independent Steering System Based on the Multi-Agent Approach
In this paper, we present an active fault-tolerant, vehicle motion control, based on the multi-agent approach for a four-wheel independent steering system. This improves handling stability and active safety of the vehicle in the case of actuator faults. Firstly, an eight-degree-of-freedom four-input...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-02-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/13/4/748 |
| _version_ | 1797298405189353472 |
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| author | Haolin Li Niaona Zhang Guangyi Wu Zonghao Li Haitao Ding Changhong Jiang |
| author_facet | Haolin Li Niaona Zhang Guangyi Wu Zonghao Li Haitao Ding Changhong Jiang |
| author_sort | Haolin Li |
| collection | DOAJ |
| description | In this paper, we present an active fault-tolerant, vehicle motion control, based on the multi-agent approach for a four-wheel independent steering system. This improves handling stability and active safety of the vehicle in the case of actuator faults. Firstly, an eight-degree-of-freedom four-input vehicle model is established by using the vector transformation method, which takes the four-wheel angle as the input and the yaw rate and the sideslip angle, obtained by the lateral force of a single wheel, as the outputs. Then, we established the topological structure of the four-wheel independent steering subsystems based on graph theory. Aiming at the known fault conditions, an adaptive sliding mode active fault-tolerant control based on the multi-agent four-wheel independent steering system is proposed, in which the unmodeled part of the system is estimated using adaptive methods. For unknown fault conditions, an active fault-tolerant control of the four-wheel independent steering system based on state observer is proposed. An extended state observer with sliding mode surface function as a state variable is designed to estimate actuator faults. Finally, it was demonstrated that the designed state observer and distributed active fault-tolerant control method reduced the impact of actuator failures on vehicle steering and improved the stability of the steering process based on the Lyapunov theory. The hardware in the loop experimental results validate the effectiveness of the proposed novel method. |
| first_indexed | 2024-03-07T22:34:24Z |
| format | Article |
| id | doaj.art-46aa672e3f5c481f8e2d25c87d08bce6 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-07T22:34:24Z |
| publishDate | 2024-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-46aa672e3f5c481f8e2d25c87d08bce62024-02-23T15:14:49ZengMDPI AGElectronics2079-92922024-02-0113474810.3390/electronics13040748Active Fault-Tolerant Control of a Four-Wheel Independent Steering System Based on the Multi-Agent ApproachHaolin Li0Niaona Zhang1Guangyi Wu2Zonghao Li3Haitao Ding4Changhong Jiang5School of Mechanical and Electrical Engineering, Changchun University of Technology, Changchun 130012, ChinaSchool of Mechanical and Electrical Engineering, Changchun University of Technology, Changchun 130012, ChinaSchool of Mechanical and Electrical Engineering, Changchun University of Technology, Changchun 130012, ChinaState Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, ChinaState Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, ChinaSchool of Mechanical and Electrical Engineering, Changchun University of Technology, Changchun 130012, ChinaIn this paper, we present an active fault-tolerant, vehicle motion control, based on the multi-agent approach for a four-wheel independent steering system. This improves handling stability and active safety of the vehicle in the case of actuator faults. Firstly, an eight-degree-of-freedom four-input vehicle model is established by using the vector transformation method, which takes the four-wheel angle as the input and the yaw rate and the sideslip angle, obtained by the lateral force of a single wheel, as the outputs. Then, we established the topological structure of the four-wheel independent steering subsystems based on graph theory. Aiming at the known fault conditions, an adaptive sliding mode active fault-tolerant control based on the multi-agent four-wheel independent steering system is proposed, in which the unmodeled part of the system is estimated using adaptive methods. For unknown fault conditions, an active fault-tolerant control of the four-wheel independent steering system based on state observer is proposed. An extended state observer with sliding mode surface function as a state variable is designed to estimate actuator faults. Finally, it was demonstrated that the designed state observer and distributed active fault-tolerant control method reduced the impact of actuator failures on vehicle steering and improved the stability of the steering process based on the Lyapunov theory. The hardware in the loop experimental results validate the effectiveness of the proposed novel method.https://www.mdpi.com/2079-9292/13/4/748four-wheel independent steering systemmulti-agentsliding modeactive fault-tolerant controlobserver |
| spellingShingle | Haolin Li Niaona Zhang Guangyi Wu Zonghao Li Haitao Ding Changhong Jiang Active Fault-Tolerant Control of a Four-Wheel Independent Steering System Based on the Multi-Agent Approach Electronics four-wheel independent steering system multi-agent sliding mode active fault-tolerant control observer |
| title | Active Fault-Tolerant Control of a Four-Wheel Independent Steering System Based on the Multi-Agent Approach |
| title_full | Active Fault-Tolerant Control of a Four-Wheel Independent Steering System Based on the Multi-Agent Approach |
| title_fullStr | Active Fault-Tolerant Control of a Four-Wheel Independent Steering System Based on the Multi-Agent Approach |
| title_full_unstemmed | Active Fault-Tolerant Control of a Four-Wheel Independent Steering System Based on the Multi-Agent Approach |
| title_short | Active Fault-Tolerant Control of a Four-Wheel Independent Steering System Based on the Multi-Agent Approach |
| title_sort | active fault tolerant control of a four wheel independent steering system based on the multi agent approach |
| topic | four-wheel independent steering system multi-agent sliding mode active fault-tolerant control observer |
| url | https://www.mdpi.com/2079-9292/13/4/748 |
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