Abstract This paper presents a novel fault-tolerant control (FTC) approach based on the cooperative game to guarantee the stability of four-wheel independent drive electric vehicles, in which four different players are modeled and interacted to find a solution to the FTC problem. First, a feedback linearization approach is employed to handle the nonlinearities in the system. Then, to study the interaction among actuators in an actuator failure scenario, the FTC problem can be viewed as a cooperative game so that its four players, namely the four in-wheel motors can cooperate to provide more stability of the vehicle. The distributed model predictive control theory is adopted as a general framework, the Pareto strategies among the players are derived using an interactive model based on a convex iterative method. Furthermore, the conditions that guarantee the practical stability of the closed-loop system are provided. The intrinsic differences between the cooperative game and noncooperative game are investigated via a numerical simulation. The effectiveness and real-time of the proposed control strategy are verified in a real-time hardware-in-the-loop test, and the results prove that the control strategy can effectively guarantee the stability of the vehicle in various actuator failure scenarios.

中文翻译：

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基于反馈线性化和协同博弈论的四轮独立驱动电动汽车容错控制

摘要 本文提出了一种新的基于合作博弈的容错控制（FTC）方法来保证四轮独立驱动电动汽车的稳定性，其中四个不同的参与者被建模和交互以找到解决 FTC 问题的方法。首先，采用反馈线性化方法来处理系统中的非线性。然后，为了研究执行器故障场景中执行器之间的相互作用，FTC 问题可以看作是一个合作博弈，它的四个参与者，即四个轮毂电机可以合作以提供更多的车辆稳定性。采用分布式模型预测控制理论作为总体框架，采用基于凸迭代法的交互模型推导出参与者之间的帕累托策略。此外，提供了保证闭环系统实际稳定性的条件。通过数值模拟研究了合作博弈和非合作博弈之间的内在差异。通过实时硬件在环测试验证了所提出控制策略的有效性和实时性，结果证明该控制策略能够有效保证车辆在各种执行器故障情况下的稳定性。