Hybrid fault tolerant tracking control design for electric vehicles

This paper investigates the path tracking problem for four-wheel-steering and four-wheel-driving electric vehicles with input constraints, actuator faults and the external resistance. A hybrid fault tolerant control approach, which combines the linear quadratic control method and the control Lyapunov function technique, is proposed. It not only maintains the vehiclepsilas tracking performance in spite of faults, input constraints and the external resistance, but also reduces the cost of the fault tolerant process. A prototype vehicle in LAGIS laboratory is particularly focused on to illustrate our approach.