Unified Fault-Tolerant Control and Adaptive Velocity Planning for 4WID-4WIS Vehicles under Multi-Fault Scenarios

Unified Fault-Tolerant Control and Adaptive Velocity Planning for 4WID-4WIS Vehicles under Multi-Fault Scenarios

Four-wheel independent drive and four-wheel independent steering (4WID-4WIS) vehicles provide increased redundancy in fault-tolerant control (FTC) schemes, enhancing heterogeneous fault-tolerant capabilities. This paper addresses the challenge of maintaining vehicle safety and maneuverability in the...

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Bibliographic Details
Main Authors: Ao Lu, Guangyu Tian
Format: Article
Language:English
Published: MDPI AG 2024-10-01
Series:Actuators
Subjects:
actuator faults
fault-tolerant control
4WID-4WIS electric vehicles
velocity planning
attainable force domain
Online Access:https://www.mdpi.com/2076-0825/13/10/407

Internet

https://www.mdpi.com/2076-0825/13/10/407

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