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.