The four-wheel independently driven and steered electric vehicle is a promising vehicle model having a strong potential for handling stability, flexibility, and consumption reduction. However, failure of the actuators of 4WIS/4WID vehicles could lead to performance reduction and dangerous accidents owing to their complex system. A fault-tolerant control approach is adopted in the integrated chassis controller such that the autonomously driven vehicle maintains its safety and stability while actuator failures occur. A linear quadratic regulator is utilized to track the reference path by adjusting the total forces and moment. To resolve any actuator failures, a control allocation method based on the pseudo-inverse matrix is introduced for decoupling the forces and moment based on the current state of the tires with cycle and correction. In the actuator control layer, the desired forces of the tires are achieved by regulating the steering angles and driving torques based on the inverse tire models of normal and flat tires. Three sets of experiments are used to test the efficiency of the proposed method when applied to a 4WIS/4WID vehicle. The results demonstrate that the proposed fault-tolerant control method can greatly improve the tracking performance and stability of 4WIS/4WID vehicles under conditions of actuator failures.

四轮独立驱动和转向的电动汽车是一种有前途的汽车模型，具有在操纵稳定性，灵活性和降低能耗方面的强大潜力。但是，由于系统复杂，4WIS / 4WID车辆的执行器故障可能导致性能下降和危险事故。集成底盘控制器中采用了容错控制方法，从而在发生执行器故障时，自动驾驶汽车可保持其安全性和稳定性。线性二次调节器用于通过调整总力和力矩来跟踪参考路径。为了解决任何执行器故障，引入了一种基于伪逆矩阵的控制分配方法，该方法用于根据轮胎的当前状态将力和力矩与循环和校正进行解耦。在执行器控制层中，通过基于正常轮胎和扁平轮胎的反向轮胎模型调节转向角和驱动扭矩来获得所需的轮胎力。当应用于4WIS / 4WID车辆时，使用三组实验来测试所提出方法的效率。结果表明，所提出的容错控制方法可以在执行器故障的情况下大大提高4WIS / 4WID车辆的跟踪性能和稳定性。