Fault Tolerant Control Allocation Based on Adaptive Sliding Mode Control for Distributed-Driven Electric Vehicle

Distributed-Driven Electric Vehicle (DDEV) faces many challenges in the four hub motors coordination control and vehicle handling stability. The probability of failure is greatly increased because of the redundancy of the DDEV actuator. When the actuator fails, the driver may be misled by the undesired vehicle performance which makes the vehicle lose the stability under critical condition. In this paper, sliding mode control strategy with fault-tolerant-control-allocation (FTCA) is adopted to improve the performance of the DDEV under extreme conditions with actuator failure. In the control layer, the sideslip angle is obtained by the state observer (SMO). In order to improve the robustness, an adaptive sliding mode control (ASMC) is used. Then, the FTCA is designed to distribute the torques of the four hub motors properly when the motor fails. The proposed ASMC-FTCA algorithm was verified through some simulation combined with Carsim and MATLAB.