Static Output-Feedback Path-Tracking Controller Tolerant to Steering Actuator Faults for Distributed Driven Electric Vehicles
The steering system plays a critical role in the vehicle’s handling and directly influences its lateral dynamics. Faults or abnormal behavior in this system can affect performance, cause vehicle instability, and even lead to accidents. Therefore, considering these potential events is essential for d...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-01-01
|
| Series: | World Electric Vehicle Journal |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2032-6653/16/1/40 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832587330332917760 |
|---|---|
| author | Miguel Meléndez-Useros Fernando Viadero-Monasterio Manuel Jiménez-Salas María Jesús López-Boada |
| author_facet | Miguel Meléndez-Useros Fernando Viadero-Monasterio Manuel Jiménez-Salas María Jesús López-Boada |
| author_sort | Miguel Meléndez-Useros |
| collection | DOAJ |
| description | The steering system plays a critical role in the vehicle’s handling and directly influences its lateral dynamics. Faults or abnormal behavior in this system can affect performance, cause vehicle instability, and even lead to accidents. Therefore, considering these potential events is essential for designing robust controllers for autonomous vehicles. For this reason, in this work, a fault-tolerant path-tracking Static Output-Feedback controller is designed to handle steering actuator faults in autonomous vehicle steering systems. The controller adopts a Linear Parameter Varying approach to effectively handle nonlinearities associated with varying vehicle speeds and tire behavior. Furthermore, it only uses information from sensors, avoiding estimation stages. This controller can operate in two modes: a no-fault mode where only the steering is controlled to follow the reference path and a fault mode where the controller manages both the steering and torque vectoring. In fault mode, torque vectoring compensates for faults in the steering actuator. The design of the controller is completed considering gain faults in the steering system. The simulation results show that the proposed controller successfully maintains vehicle stability and significantly reduces tracking errors during high-risk maneuvers, achieving reductions of up to 50.65% in lateral error and 47.26% in heading error under worst-case fault scenarios. |
| format | Article |
| id | doaj-art-fd6c0cd2595e4a4c9ed9df99f5ad0d2f |
| institution | Kabale University |
| issn | 2032-6653 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | World Electric Vehicle Journal |
| spelling | doaj-art-fd6c0cd2595e4a4c9ed9df99f5ad0d2f2025-01-24T13:52:51ZengMDPI AGWorld Electric Vehicle Journal2032-66532025-01-011614010.3390/wevj16010040Static Output-Feedback Path-Tracking Controller Tolerant to Steering Actuator Faults for Distributed Driven Electric VehiclesMiguel Meléndez-Useros0Fernando Viadero-Monasterio1Manuel Jiménez-Salas2María Jesús López-Boada3Mechanical Engineering Department, Advanced Vehicle Dynamics and Mechatronic Systems (VEDYMEC), Universidad Carlos III de Madrid, Avenida de la Universidad, 30 (edificio Sabatini), Leganés, 28911 Madrid, SpainMechanical Engineering Department, Advanced Vehicle Dynamics and Mechatronic Systems (VEDYMEC), Universidad Carlos III de Madrid, Avenida de la Universidad, 30 (edificio Sabatini), Leganés, 28911 Madrid, SpainMechanical Engineering Department, Advanced Vehicle Dynamics and Mechatronic Systems (VEDYMEC), Universidad Carlos III de Madrid, Avenida de la Universidad, 30 (edificio Sabatini), Leganés, 28911 Madrid, SpainMechanical Engineering Department, Advanced Vehicle Dynamics and Mechatronic Systems (VEDYMEC), Universidad Carlos III de Madrid, Avenida de la Universidad, 30 (edificio Sabatini), Leganés, 28911 Madrid, SpainThe steering system plays a critical role in the vehicle’s handling and directly influences its lateral dynamics. Faults or abnormal behavior in this system can affect performance, cause vehicle instability, and even lead to accidents. Therefore, considering these potential events is essential for designing robust controllers for autonomous vehicles. For this reason, in this work, a fault-tolerant path-tracking Static Output-Feedback controller is designed to handle steering actuator faults in autonomous vehicle steering systems. The controller adopts a Linear Parameter Varying approach to effectively handle nonlinearities associated with varying vehicle speeds and tire behavior. Furthermore, it only uses information from sensors, avoiding estimation stages. This controller can operate in two modes: a no-fault mode where only the steering is controlled to follow the reference path and a fault mode where the controller manages both the steering and torque vectoring. In fault mode, torque vectoring compensates for faults in the steering actuator. The design of the controller is completed considering gain faults in the steering system. The simulation results show that the proposed controller successfully maintains vehicle stability and significantly reduces tracking errors during high-risk maneuvers, achieving reductions of up to 50.65% in lateral error and 47.26% in heading error under worst-case fault scenarios.https://www.mdpi.com/2032-6653/16/1/40fault-tolerant controlpath-trackingstatic output-feedback controlsteering actuator faulttorque vectoring controlvehicle safety |
| spellingShingle | Miguel Meléndez-Useros Fernando Viadero-Monasterio Manuel Jiménez-Salas María Jesús López-Boada Static Output-Feedback Path-Tracking Controller Tolerant to Steering Actuator Faults for Distributed Driven Electric Vehicles World Electric Vehicle Journal fault-tolerant control path-tracking static output-feedback control steering actuator fault torque vectoring control vehicle safety |
| title | Static Output-Feedback Path-Tracking Controller Tolerant to Steering Actuator Faults for Distributed Driven Electric Vehicles |
| title_full | Static Output-Feedback Path-Tracking Controller Tolerant to Steering Actuator Faults for Distributed Driven Electric Vehicles |
| title_fullStr | Static Output-Feedback Path-Tracking Controller Tolerant to Steering Actuator Faults for Distributed Driven Electric Vehicles |
| title_full_unstemmed | Static Output-Feedback Path-Tracking Controller Tolerant to Steering Actuator Faults for Distributed Driven Electric Vehicles |
| title_short | Static Output-Feedback Path-Tracking Controller Tolerant to Steering Actuator Faults for Distributed Driven Electric Vehicles |
| title_sort | static output feedback path tracking controller tolerant to steering actuator faults for distributed driven electric vehicles |
| topic | fault-tolerant control path-tracking static output-feedback control steering actuator fault torque vectoring control vehicle safety |
| url | https://www.mdpi.com/2032-6653/16/1/40 |
| work_keys_str_mv | AT miguelmelendezuseros staticoutputfeedbackpathtrackingcontrollertoleranttosteeringactuatorfaultsfordistributeddrivenelectricvehicles AT fernandoviaderomonasterio staticoutputfeedbackpathtrackingcontrollertoleranttosteeringactuatorfaultsfordistributeddrivenelectricvehicles AT manueljimenezsalas staticoutputfeedbackpathtrackingcontrollertoleranttosteeringactuatorfaultsfordistributeddrivenelectricvehicles AT mariajesuslopezboada staticoutputfeedbackpathtrackingcontrollertoleranttosteeringactuatorfaultsfordistributeddrivenelectricvehicles |