Adaptive Sliding Mode Fault-Tolerant Coordination Control for Four-Wheel Independently Driven Electric Vehicles

Four wheel independently driven (4WID) electric vehicles are promising vehicle architectures. However, the complex coordination control of the four driving motors and the operation reliability of the vehicle are challenges. In this paper, to address the multimotor coordinate operation against the actuator faults in the 4WID system, combining the adaptive sliding mode (ASM) control and the fault-tolerant (FT) control allocation, an adaptive sliding mode fault-tolerant coordination (ASM-FTC) control is proposed. First, a new vehicle dynamic model with a driving motor fault is set up. In the control layer, an adaptive variable exponential reaching law is used in the ASM to alleviate the chattering and improve the reaching speed, precision, and robustness. Then, the FTC allocation based on the quadratic programming is designed to properly coordinate the four in-wheel motors at the presentation of the motor fault. To verify the proposed control method, a 4WID electric vehicle platform is set up. Simulation and experimental results demonstrate the effectiveness of the ASM-FTC control.