Optimal Fault-Tolerant Path-Tracking Control for 4WS4WD Electric Vehicles

This paper investigates the path-tracking problem for four-wheel-steering and four-wheel-driving electric vehicles with input constraints, actuator faults, and external resistance. A hybrid fault-tolerant control approach, which combines the linear-quadratic control method and the control Lyapunov function technique, is proposed. It not only maintains the vehicle's tracking performance in spite of faults, input constraints, and external resistance but also reduces the cost of the fault-tolerant process. A prototype vehicle from the Laboratoire d'Automatique, Ge¿nie Informatique et Signal (LAGIS), is particularly focused on illustrating the applicability of our approach.