This paper proposes a cooperative game-based actuator fault-tolerant control strategy for a four-wheel independent drive electric vehicle with an active front steering system. For achieving fault-tolerant control and targets cooperation, a two-dimensional game strategy is proposed to balance the stability and economy. The first-dimensional game is utilized to determine the dominant control target of the actuator, then the second-dimensional game is employed to assign the fault-tolerant control task for the remaining healthy actuators. The two dimensions are integrated based on the linear quadratic differential game theory, and a hybrid weighted Pareto frontier is thus established. A Shapley value based weight calculation method is proposed to obtain a set of fair and unique weights according to the importance of each player, which makes the solution of the optimal control problem more easily obtained. The effectiveness and real-time performance of the control strategy are tested under different scenarios. The simulation results demonstrate that the proposed strategy can balance the stability and economy well, outperforms the traditional method in terms of target tracking performance. For special case, the response of the yaw rate could be improved up to 39.83% comparing to that of the linear quadratic regulator method.

中文翻译：

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基于二维博弈的独立驱动电动汽车致动器故障容错控制

本文提出了一种基于协同博弈的执行器容错控制策略，适用于具有主动前转向系统的四轮独立驱动电动汽车。为了实现容错控制和目标合作，提出了一种二维博弈策略来平衡稳定性和经济性。利用一维博弈确定执行器的主导控制目标，然后利用二维博弈为剩余的健康执行器分配容错控制任务。基于线性二次微分博弈论对两个维度进行积分，从而建立混合加权帕累托前沿。提出了一种基于 Shapley 值的权重计算方法，根据每个玩家的重要性获得一组公平且唯一的权重，从而更容易得到最优控制问题的解。在不同场景下测试了控制策略的有效性和实时性。仿真结果表明，所提出的策略能够很好地平衡稳定性和经济性，在目标跟踪性能方面优于传统方法。对于特殊情况，与线性二次调节器方法相比，偏航率的响应可以提高39.83%。