Model-Independent Adaptive Fault-Tolerant Output Tracking Control of 4WS4WD Road Vehicles

@article{Li2013ModelIndependentAF,
  title={Model-Independent Adaptive Fault-Tolerant Output Tracking Control of 4WS4WD Road Vehicles},
  author={Dan-Yong Li and Yongduan Song and Dong Huang and He-Nan Chen},
  journal={IEEE Transactions on Intelligent Transportation Systems},
  year={2013},
  volume={14},
  pages={169-179}
}
This paper investigates the path-tracking control problem of four-wheel-steering and four-wheel-driving (4WS4WD) road vehicles. Of particular interest is the development of an adaptive and fault-tolerant tracking control scheme capable of compensating vehicle uncertain dynamics/disturbances and actuation failures simultaneously. Control algorithms are derived without requiring detail system dynamic information. The control scheme is shown to be effective in coping with unexpected actuation… CONTINUE READING