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Fault-Tolerant Cooperative Control Based on NFTSMC for Electric Vehicles under Steering System Failure
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Xuanjiang Liu, Fen Lin, Tiancheng Wang, Hongwang Ma
Automobile Technology | 2025, (4) : 10 - 19
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Automobile Technology | 2025, (4): 10-19
Fault-Tolerant Cooperative Control Based on NFTSMC for Electric Vehicles under Steering System Failure
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Xuanjiang Liu, Fen Lin, Tiancheng Wang, Hongwang Ma
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  • College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016
Published: 2025-04-24 doi: 10.19620/j.cnki.1000-3703.20240873
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To address the problem that distributed-drive electric vehicles cannot accurately track the desired trajectory after steering system failure, this paper proposes a fault-tolerant control strategy that considers vehicle stability and trajectory tracking after steering failure. Firstly, the desired front wheel angle and additional transverse moment are calculated based on model prediction control and sliding mode control, respectively. Then, for the steering system failure fault, a front wheel angle tracking controller is designed based on non-singular terminal sliding mode control to solve the differential steering moment required to achieve the desired angle. Secondly, with the optimization objectives of minimizing the tire loading rate and the control volume error, the tire force distribution is realized based on the quadratic programming algorithm. Finally, simulation tests are carried out under two working conditions of medium-speed high adhesion coefficient and high-speed low adhesion coefficient respectively, and the results show that the proposed fault-tolerant control strategy can still make the vehicle track the desired trajectory stably after the steering system fails, and it has good control effect.

Distributed drive electric vehicle  /  Differential steering  /  Fault-Tolerant Control (FTC)  /  Non-Singular Terminal Sliding Mode Control (NTSMC)  /  Tire force distribution
Xuanjiang Liu, Fen Lin, Tiancheng Wang, Hongwang Ma. Fault-Tolerant Cooperative Control Based on NFTSMC for Electric Vehicles under Steering System Failure[J]. Automobile Technology, 2025 , (4) : 10 -19 . DOI: 10.19620/j.cnki.1000-3703.20240873
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doi: 10.19620/j.cnki.1000-3703.20240873
  • Online Date：2025-11-15
  • Published：2025-04-24
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  • Revised：2024-10-29
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    College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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