This paper presents a robust H_∞ fault-tolerant lateral controller of four wheel steering autonomous vehicles to enhance the autonomous driving performance and to track the desired road when a steering wheel fault happens. First, the lateral dynamic model of four wheel steering autonomous vehicles is constructed, which contains the features of parameter uncertainties and actuator faults of vehicles. Then, since the faulty steering wheel may fail to offer the desired torque and harm the lateral motion control system of autonomous vehicles, a novel robust H_∞ fault tolerant state feedback lateral control law of four steering autonomous vehicles is designed to deal with actuator faults and parameter uncertainties. Finally, simulation tests are implemented in the Adams-Simulink joint platform with a high-fidelity and full-car model, and results verify the validity of this proposed control scheme.

中文翻译：

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四轮转向自动驾驶车辆的鲁棒H∞容错横向控制

本文提出了一种稳健的^ h _∞容错横向的四轮转向自主车控制器，以增强自主驾驶性能，并在方向盘发生故障跟踪所需的道路。首先，建立了四轮转向自动驾驶汽车的侧向动力学模型，该模型具有参数不确定性和车辆执行器故障的特征。然后，由于发生故障的方向盘可能无法提供所需的扭矩和损害自主车辆，一个新颖的鲁棒的横向运动控制系统ħ _∞设计了四种转向自动驾驶汽车的容错状态反馈侧向控制律，以处理执行器故障和参数不确定性。最后，在Adams-Simulink联合平台上以高保真和全车模型进行了仿真测试，结果验证了该控制方案的有效性。