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

Abstracts A rule-based one-side fault-tolerant control strategy is proposed to improve the vehicle's traverse 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 0.77727 rad and the extreme value of the yaw velocity error is 0.05771 rad/s. After fault-tolerant control, the extreme value of the center-of-mass lateral deviation angle error is reduced to 0.00036 rad, with a reduction of 99.95%; the extreme value of the yaw velocity error is reduced to 0.00028 rad/s, with a reduction of 99.51%, which verifies the validity of the one-side rule-based fault-tolerant control is effective. Keywords: multi-axle differential steering vehicles; the one-side rule-based fault-tolerant control; the conditional integration algorithm; dynamics control.