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

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