Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors

This paper investigates the fault-tolerant path following control problem of autonomous ground electric vehicles with in-wheel motors through hierarchical control strategy. The sliding mode observer with boundary layer is designed to estimate the vehicle state, and the time-delay estimation method i...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Chen, Te [verfasserIn] Chen, Long [verfasserIn] Xu, Xing [verfasserIn] Cai, Yingfeng [verfasserIn] Jiang, Haobin [verfasserIn] Sun, Xiaoqiang [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2019

Schlagwörter:	Autonomous ground vehicles Path following Vehicle stability Actuator fault Fault-tolerant control Orientated tire force allocation

Übergeordnetes Werk:	Enthalten in: No title available - 134, Seite 22-30
Übergeordnetes Werk:	volume:134 ; pages:22-30

DOI / URN:	10.1016/j.advengsoft.2019.05.003

Katalog-ID:	ELV002411784

Internformat


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100	1		\|a Chen, Te \|e verfasserin \|0 (orcid)0000-0002-4596-6509 \|4 aut
245	1	0	\|a Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors
264		1	\|c 2019
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337			\|a Computermedien \|b c \|2 rdamedia
338			\|a Online-Ressource \|b cr \|2 rdacarrier
520			\|a This paper investigates the fault-tolerant path following control problem of autonomous ground electric vehicles with in-wheel motors through hierarchical control strategy. The sliding mode observer with boundary layer is designed to estimate the vehicle state, and the time-delay estimation method is used to compute the actuator fault. Considering the actuator fault, the fault-tolerant path following control strategy is proposed, in which the upper layer controller is developed to achieve path following control and guarantee vehicle stability simultaneously by sliding mode control method, and the lower layer controller is presented to achieve the control efforts of upper layer controller by adaptive orientated tire force allocation method. The simulations are implemented in the CarSim-Simulink co-simulation platform, and the simulation results have verified the effectiveness of proposed fault-tolerant path following control method.
650		4	\|a Autonomous ground vehicles
650		4	\|a Path following
650		4	\|a Vehicle stability
650		4	\|a Actuator fault
650		4	\|a Fault-tolerant control
650		4	\|a Orientated tire force allocation
700	1		\|a Chen, Long \|e verfasserin \|4 aut
700	1		\|a Xu, Xing \|e verfasserin \|0 (orcid)0000-0003-2119-9429 \|4 aut
700	1		\|a Cai, Yingfeng \|e verfasserin \|4 aut
700	1		\|a Jiang, Haobin \|e verfasserin \|4 aut
700	1		\|a Sun, Xiaoqiang \|e verfasserin \|4 aut
773	0	8	\|i Enthalten in \|t No title available \|g 134, Seite 22-30 \|w (DE-627)306591863 \|x 0965-9978 \|7 nnns
773	1	8	\|g volume:134 \|g pages:22-30
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912			\|a GBV_ILN_23
912			\|a GBV_ILN_24
912			\|a GBV_ILN_31
912			\|a GBV_ILN_32
912			\|a GBV_ILN_40
912			\|a GBV_ILN_60
912			\|a GBV_ILN_62
912			\|a GBV_ILN_63
912			\|a GBV_ILN_65
912			\|a GBV_ILN_69
912			\|a GBV_ILN_70
912			\|a GBV_ILN_73
912			\|a GBV_ILN_74
912			\|a GBV_ILN_90
912			\|a GBV_ILN_95
912			\|a GBV_ILN_100
912			\|a GBV_ILN_101
912			\|a GBV_ILN_105
912			\|a GBV_ILN_110
912			\|a GBV_ILN_150
912			\|a GBV_ILN_151
912			\|a GBV_ILN_224
912			\|a GBV_ILN_370
912			\|a GBV_ILN_602
912			\|a GBV_ILN_702
912			\|a GBV_ILN_2003
912			\|a GBV_ILN_2004
912			\|a GBV_ILN_2005
912			\|a GBV_ILN_2008
912			\|a GBV_ILN_2010
912			\|a GBV_ILN_2011
912			\|a GBV_ILN_2014
912			\|a GBV_ILN_2015
912			\|a GBV_ILN_2020
912			\|a GBV_ILN_2021
912			\|a GBV_ILN_2025
912			\|a GBV_ILN_2027
912			\|a GBV_ILN_2034
912			\|a GBV_ILN_2038
912			\|a GBV_ILN_2044
912			\|a GBV_ILN_2048
912			\|a GBV_ILN_2049
912			\|a GBV_ILN_2050
912			\|a GBV_ILN_2056
912			\|a GBV_ILN_2059
912			\|a GBV_ILN_2061
912			\|a GBV_ILN_2064
912			\|a GBV_ILN_2065
912			\|a GBV_ILN_2068
912			\|a GBV_ILN_2088
912			\|a GBV_ILN_2111
912			\|a GBV_ILN_2112
912			\|a GBV_ILN_2113
912			\|a GBV_ILN_2118
912			\|a GBV_ILN_2122
912			\|a GBV_ILN_2129
912			\|a GBV_ILN_2143
912			\|a GBV_ILN_2147
912			\|a GBV_ILN_2148
912			\|a GBV_ILN_2152
912			\|a GBV_ILN_2153
912			\|a GBV_ILN_2190
912			\|a GBV_ILN_2336
912			\|a GBV_ILN_2470
912			\|a GBV_ILN_2507
912			\|a GBV_ILN_2522
912			\|a GBV_ILN_4035
912			\|a GBV_ILN_4037
912			\|a GBV_ILN_4046
912			\|a GBV_ILN_4112
912			\|a GBV_ILN_4125
912			\|a GBV_ILN_4126
912			\|a GBV_ILN_4242
912			\|a GBV_ILN_4251
912			\|a GBV_ILN_4305
912			\|a GBV_ILN_4313
912			\|a GBV_ILN_4322
912			\|a GBV_ILN_4323
912			\|a GBV_ILN_4324
912			\|a GBV_ILN_4325
912			\|a GBV_ILN_4326
912			\|a GBV_ILN_4333
912			\|a GBV_ILN_4334
912			\|a GBV_ILN_4335
912			\|a GBV_ILN_4338
912			\|a GBV_ILN_4393
951			\|a AR
952			\|d 134 \|h 22-30

Indexfelder

author_variant	t c tc l c lc x x xx y c yc h j hj x s xs
matchkey_str	article:09659978:2019----::asvataofutoeataholwncnrlfuooosrudlcr
hierarchy_sort_str	2019
publishDate	2019
allfields	10.1016/j.advengsoft.2019.05.003 doi (DE-627)ELV002411784 (ELSEVIER)S0965-9978(18)30912-8 DE-627 ger DE-627 rda eng Chen, Te verfasserin (orcid)0000-0002-4596-6509 aut Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors 2019 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper investigates the fault-tolerant path following control problem of autonomous ground electric vehicles with in-wheel motors through hierarchical control strategy. The sliding mode observer with boundary layer is designed to estimate the vehicle state, and the time-delay estimation method is used to compute the actuator fault. Considering the actuator fault, the fault-tolerant path following control strategy is proposed, in which the upper layer controller is developed to achieve path following control and guarantee vehicle stability simultaneously by sliding mode control method, and the lower layer controller is presented to achieve the control efforts of upper layer controller by adaptive orientated tire force allocation method. The simulations are implemented in the CarSim-Simulink co-simulation platform, and the simulation results have verified the effectiveness of proposed fault-tolerant path following control method. Autonomous ground vehicles Path following Vehicle stability Actuator fault Fault-tolerant control Orientated tire force allocation Chen, Long verfasserin aut Xu, Xing verfasserin (orcid)0000-0003-2119-9429 aut Cai, Yingfeng verfasserin aut Jiang, Haobin verfasserin aut Sun, Xiaoqiang verfasserin aut Enthalten in No title available 134, Seite 22-30 (DE-627)306591863 0965-9978 nnns volume:134 pages:22-30 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 AR 134 22-30
spelling	10.1016/j.advengsoft.2019.05.003 doi (DE-627)ELV002411784 (ELSEVIER)S0965-9978(18)30912-8 DE-627 ger DE-627 rda eng Chen, Te verfasserin (orcid)0000-0002-4596-6509 aut Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors 2019 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper investigates the fault-tolerant path following control problem of autonomous ground electric vehicles with in-wheel motors through hierarchical control strategy. The sliding mode observer with boundary layer is designed to estimate the vehicle state, and the time-delay estimation method is used to compute the actuator fault. Considering the actuator fault, the fault-tolerant path following control strategy is proposed, in which the upper layer controller is developed to achieve path following control and guarantee vehicle stability simultaneously by sliding mode control method, and the lower layer controller is presented to achieve the control efforts of upper layer controller by adaptive orientated tire force allocation method. The simulations are implemented in the CarSim-Simulink co-simulation platform, and the simulation results have verified the effectiveness of proposed fault-tolerant path following control method. Autonomous ground vehicles Path following Vehicle stability Actuator fault Fault-tolerant control Orientated tire force allocation Chen, Long verfasserin aut Xu, Xing verfasserin (orcid)0000-0003-2119-9429 aut Cai, Yingfeng verfasserin aut Jiang, Haobin verfasserin aut Sun, Xiaoqiang verfasserin aut Enthalten in No title available 134, Seite 22-30 (DE-627)306591863 0965-9978 nnns volume:134 pages:22-30 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 AR 134 22-30
allfields_unstemmed	10.1016/j.advengsoft.2019.05.003 doi (DE-627)ELV002411784 (ELSEVIER)S0965-9978(18)30912-8 DE-627 ger DE-627 rda eng Chen, Te verfasserin (orcid)0000-0002-4596-6509 aut Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors 2019 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper investigates the fault-tolerant path following control problem of autonomous ground electric vehicles with in-wheel motors through hierarchical control strategy. The sliding mode observer with boundary layer is designed to estimate the vehicle state, and the time-delay estimation method is used to compute the actuator fault. Considering the actuator fault, the fault-tolerant path following control strategy is proposed, in which the upper layer controller is developed to achieve path following control and guarantee vehicle stability simultaneously by sliding mode control method, and the lower layer controller is presented to achieve the control efforts of upper layer controller by adaptive orientated tire force allocation method. The simulations are implemented in the CarSim-Simulink co-simulation platform, and the simulation results have verified the effectiveness of proposed fault-tolerant path following control method. Autonomous ground vehicles Path following Vehicle stability Actuator fault Fault-tolerant control Orientated tire force allocation Chen, Long verfasserin aut Xu, Xing verfasserin (orcid)0000-0003-2119-9429 aut Cai, Yingfeng verfasserin aut Jiang, Haobin verfasserin aut Sun, Xiaoqiang verfasserin aut Enthalten in No title available 134, Seite 22-30 (DE-627)306591863 0965-9978 nnns volume:134 pages:22-30 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 AR 134 22-30
allfieldsGer	10.1016/j.advengsoft.2019.05.003 doi (DE-627)ELV002411784 (ELSEVIER)S0965-9978(18)30912-8 DE-627 ger DE-627 rda eng Chen, Te verfasserin (orcid)0000-0002-4596-6509 aut Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors 2019 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper investigates the fault-tolerant path following control problem of autonomous ground electric vehicles with in-wheel motors through hierarchical control strategy. The sliding mode observer with boundary layer is designed to estimate the vehicle state, and the time-delay estimation method is used to compute the actuator fault. Considering the actuator fault, the fault-tolerant path following control strategy is proposed, in which the upper layer controller is developed to achieve path following control and guarantee vehicle stability simultaneously by sliding mode control method, and the lower layer controller is presented to achieve the control efforts of upper layer controller by adaptive orientated tire force allocation method. The simulations are implemented in the CarSim-Simulink co-simulation platform, and the simulation results have verified the effectiveness of proposed fault-tolerant path following control method. Autonomous ground vehicles Path following Vehicle stability Actuator fault Fault-tolerant control Orientated tire force allocation Chen, Long verfasserin aut Xu, Xing verfasserin (orcid)0000-0003-2119-9429 aut Cai, Yingfeng verfasserin aut Jiang, Haobin verfasserin aut Sun, Xiaoqiang verfasserin aut Enthalten in No title available 134, Seite 22-30 (DE-627)306591863 0965-9978 nnns volume:134 pages:22-30 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 AR 134 22-30
allfieldsSound	10.1016/j.advengsoft.2019.05.003 doi (DE-627)ELV002411784 (ELSEVIER)S0965-9978(18)30912-8 DE-627 ger DE-627 rda eng Chen, Te verfasserin (orcid)0000-0002-4596-6509 aut Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors 2019 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper investigates the fault-tolerant path following control problem of autonomous ground electric vehicles with in-wheel motors through hierarchical control strategy. The sliding mode observer with boundary layer is designed to estimate the vehicle state, and the time-delay estimation method is used to compute the actuator fault. Considering the actuator fault, the fault-tolerant path following control strategy is proposed, in which the upper layer controller is developed to achieve path following control and guarantee vehicle stability simultaneously by sliding mode control method, and the lower layer controller is presented to achieve the control efforts of upper layer controller by adaptive orientated tire force allocation method. The simulations are implemented in the CarSim-Simulink co-simulation platform, and the simulation results have verified the effectiveness of proposed fault-tolerant path following control method. Autonomous ground vehicles Path following Vehicle stability Actuator fault Fault-tolerant control Orientated tire force allocation Chen, Long verfasserin aut Xu, Xing verfasserin (orcid)0000-0003-2119-9429 aut Cai, Yingfeng verfasserin aut Jiang, Haobin verfasserin aut Sun, Xiaoqiang verfasserin aut Enthalten in No title available 134, Seite 22-30 (DE-627)306591863 0965-9978 nnns volume:134 pages:22-30 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 AR 134 22-30
language	English
source	Enthalten in No title available 134, Seite 22-30 volume:134 pages:22-30
sourceStr	Enthalten in No title available 134, Seite 22-30 volume:134 pages:22-30
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	Autonomous ground vehicles Path following Vehicle stability Actuator fault Fault-tolerant control Orientated tire force allocation
isfreeaccess_bool	false
container_title	No title available
authorswithroles_txt_mv	Chen, Te @@aut@@ Chen, Long @@aut@@ Xu, Xing @@aut@@ Cai, Yingfeng @@aut@@ Jiang, Haobin @@aut@@ Sun, Xiaoqiang @@aut@@
publishDateDaySort_date	2019-01-01T00:00:00Z
hierarchy_top_id	306591863
id	ELV002411784
language_de	englisch
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author	Chen, Te
spellingShingle	Chen, Te misc Autonomous ground vehicles misc Path following misc Vehicle stability misc Actuator fault misc Fault-tolerant control misc Orientated tire force allocation Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors
authorStr	Chen, Te
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topic_title	Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors Autonomous ground vehicles Path following Vehicle stability Actuator fault Fault-tolerant control Orientated tire force allocation
topic	misc Autonomous ground vehicles misc Path following misc Vehicle stability misc Actuator fault misc Fault-tolerant control misc Orientated tire force allocation
topic_unstemmed	misc Autonomous ground vehicles misc Path following misc Vehicle stability misc Actuator fault misc Fault-tolerant control misc Orientated tire force allocation
topic_browse	misc Autonomous ground vehicles misc Path following misc Vehicle stability misc Actuator fault misc Fault-tolerant control misc Orientated tire force allocation
format_facet	Elektronische Aufsätze Aufsätze Elektronische Ressource
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title	Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors
ctrlnum	(DE-627)ELV002411784 (ELSEVIER)S0965-9978(18)30912-8
title_full	Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors
author_sort	Chen, Te
journal	No title available
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author_browse	Chen, Te Chen, Long Xu, Xing Cai, Yingfeng Jiang, Haobin Sun, Xiaoqiang
container_volume	134
format_se	Elektronische Aufsätze
author-letter	Chen, Te
doi_str_mv	10.1016/j.advengsoft.2019.05.003
normlink	(ORCID)0000-0002-4596-6509 (ORCID)0000-0003-2119-9429
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title_sort	passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors
title_auth	Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors
abstract	This paper investigates the fault-tolerant path following control problem of autonomous ground electric vehicles with in-wheel motors through hierarchical control strategy. The sliding mode observer with boundary layer is designed to estimate the vehicle state, and the time-delay estimation method is used to compute the actuator fault. Considering the actuator fault, the fault-tolerant path following control strategy is proposed, in which the upper layer controller is developed to achieve path following control and guarantee vehicle stability simultaneously by sliding mode control method, and the lower layer controller is presented to achieve the control efforts of upper layer controller by adaptive orientated tire force allocation method. The simulations are implemented in the CarSim-Simulink co-simulation platform, and the simulation results have verified the effectiveness of proposed fault-tolerant path following control method.
abstractGer	This paper investigates the fault-tolerant path following control problem of autonomous ground electric vehicles with in-wheel motors through hierarchical control strategy. The sliding mode observer with boundary layer is designed to estimate the vehicle state, and the time-delay estimation method is used to compute the actuator fault. Considering the actuator fault, the fault-tolerant path following control strategy is proposed, in which the upper layer controller is developed to achieve path following control and guarantee vehicle stability simultaneously by sliding mode control method, and the lower layer controller is presented to achieve the control efforts of upper layer controller by adaptive orientated tire force allocation method. The simulations are implemented in the CarSim-Simulink co-simulation platform, and the simulation results have verified the effectiveness of proposed fault-tolerant path following control method.
abstract_unstemmed	This paper investigates the fault-tolerant path following control problem of autonomous ground electric vehicles with in-wheel motors through hierarchical control strategy. The sliding mode observer with boundary layer is designed to estimate the vehicle state, and the time-delay estimation method is used to compute the actuator fault. Considering the actuator fault, the fault-tolerant path following control strategy is proposed, in which the upper layer controller is developed to achieve path following control and guarantee vehicle stability simultaneously by sliding mode control method, and the lower layer controller is presented to achieve the control efforts of upper layer controller by adaptive orientated tire force allocation method. The simulations are implemented in the CarSim-Simulink co-simulation platform, and the simulation results have verified the effectiveness of proposed fault-tolerant path following control method.
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title_short	Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors
remote_bool	true
author2	Chen, Long Xu, Xing Cai, Yingfeng Jiang, Haobin Sun, Xiaoqiang
author2Str	Chen, Long Xu, Xing Cai, Yingfeng Jiang, Haobin Sun, Xiaoqiang
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doi_str	10.1016/j.advengsoft.2019.05.003
up_date	2024-07-07T00:38:25.286Z
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fullrecord_marcxml	<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000naa a22002652 4500</leader><controlfield tag="001">ELV002411784</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20230429113942.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">230429s2019 xx \|\|\|\|\|o 00\| \|\|eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1016/j.advengsoft.2019.05.003</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)ELV002411784</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(ELSEVIER)S0965-9978(18)30912-8</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rda</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Chen, Te</subfield><subfield code="e">verfasserin</subfield><subfield code="0">(orcid)0000-0002-4596-6509</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2019</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">nicht spezifiziert</subfield><subfield code="b">zzz</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">This paper investigates the fault-tolerant path following control problem of autonomous ground electric vehicles with in-wheel motors through hierarchical control strategy. The sliding mode observer with boundary layer is designed to estimate the vehicle state, and the time-delay estimation method is used to compute the actuator fault. Considering the actuator fault, the fault-tolerant path following control strategy is proposed, in which the upper layer controller is developed to achieve path following control and guarantee vehicle stability simultaneously by sliding mode control method, and the lower layer controller is presented to achieve the control efforts of upper layer controller by adaptive orientated tire force allocation method. The simulations are implemented in the CarSim-Simulink co-simulation platform, and the simulation results have verified the effectiveness of proposed fault-tolerant path following control method.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Autonomous ground vehicles</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Path following</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Vehicle stability</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Actuator fault</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Fault-tolerant control</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Orientated tire force allocation</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Chen, Long</subfield><subfield code="e">verfasserin</subfield><subfield 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Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors

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