Fault-tolerant Path Tracking Control of Distributed Electric Unmanned Vehicle Based on Differential Steering

Fault-tolerant control is significant to achieve steering fail-operational for unmanned vehicle equipped with active steering system. Distributed electric vehicle can steer by differential steering, which is realized by applying differential torque on front wheels to drive the steering system. In this Paper, a hierarchical controller is designed for path tracking of distributed electric unmanned vehicle in case of active steering system failure, based on differential steering. Model Predictive Control is applied for path tracking and an Anti-integral-windup Sliding Mode Controller is employed for differential steering control to track the desired steering angle. The proposed approach is evaluated by CarMaker-Simulink simulation, and the results demonstrate the availability and effectiveness of the controller.