Differential Steering Vehicle Dynamics Control with Rule-Based Unilateral Fault-Tolerant Control Strategy

A rule-based unilateral fault-tolerant control strategy is proposed to improve the vehicle's yaw stability and dynamics in case of drive system failure for multi-axle differential steering vehicles due to various unpredictable factors during driving. Meanwhile, based on the conditional integration algorithm, a multi-axis differential steering vehicle dynamics control is designed to resist integration saturation, which ensures that the vehicle tracks the reference signal accurately. In order to test the designed fault-tolerant control strategy, the first wheel drive motor in the left is set to be in a state of complete failure after the 10th second on the basis of the vehicle's forward-steering driving condition in order to construct a failure test condition; deviation angle error without fault-tolerant control is 0.22182rad and the extreme value of the yaw velocity error is 0.03687 rad/s. After fault-tolerant control, the extreme value of the center-of-mass lateral deviation angle error is reduced to 0.03019 rad, with a reduction of 86.38%; the extreme value of the yaw velocity error is reduced to0.00615 rad/s, with a reduction of 83.32%, which verifies the validity of the rule-based unilateral fault-tolerant control is effective.