Fault-Tolerant Control of FWIA Electric Ground Vehicles with Differential Drive Assisted Steering

This paper investigates a novel fault-tolerant control approach against active steering system failure based on differential drive assisted steering (DDAS) on four-wheel independently actuated (FWIA) electric ground vehicles. The front-wheel steering angle can be generated with the front-wheel differential driving torque when the steering motor fails. DDAS being the only steering power source is a potential alternative to replace the regular …