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Fault-Tolerant Trajectory Tracking Control for Tri-Axial Vehicles Based on Infinite-Horizon MPC
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Zhengcai Yang1, Zixuan Yang1, Linhe Ge1, Junwu Zhao2, Huiquan Zhang1
Automobile Technology | 2026, (3) : 18 - 27
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Automobile Technology | 2026, (3): 18-27
• Special Topic on Dynamic Trajectory Prediction, Planning, and Tracking Control Technology of Intelligent Vehicle •
Fault-Tolerant Trajectory Tracking Control for Tri-Axial Vehicles Based on Infinite-Horizon MPC
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Zhengcai Yang1, Zixuan Yang1, Linhe Ge1, Junwu Zhao2, Huiquan Zhang1
Affiliations
  • 1.Hubei Key Laboratory of Automotive Power Train and Electronic Control, Hubei University of Automotive Technology, Shiyan 442002
  • 2.State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures, Shijiazhuang Tiedao University, Shijiazhuang 050043
Published: 2026-03-24 doi: 10.19620/j.cnki.1000-3703.20250007
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To address the increased fault probability caused by the growing number of actuators in all-wheel-steering vehicles, this study focuses on motion control of a 3×3 all-wheel-steering intelligent vehicle and proposes an infinite-horizon Model Predictive Control (MPC) method that accounts for actuator input delay and faults. The algorithm decomposes the delay-aware optimization into an MPC solved over stages 0~N-1 and an LQR solved over N~ ∞ , and introduces Cholesky decomposition in the MPC stage to compute control inputs, avoiding factorization of large Karush-Kuhn-Tucker (KKT) matrices. Simulation and experimental results show that the proposed control strategy effectively achieves fault-tolerant control when actuator faults occur, while offering higher stability and control accuracy compared to traditional LQR and MPC methods.

Trajectory tracking  /  Fault-tolerant control  /  Model Predictive Control (MPC)  /  Triaxial vehicle
杨正才, 杨子轩, 葛林鹤, 赵俊武, 张慧泉. 基于无限时域模型预测控制的三轴车辆可容错轨迹跟踪控制. 汽车技术, 2026 , (3) : 18 -27 . DOI: 10.19620/j.cnki.1000-3703.20250007
Zhengcai Yang, Zixuan Yang, Linhe Ge, Junwu Zhao, Huiquan Zhang. Fault-Tolerant Trajectory Tracking Control for Tri-Axial Vehicles Based on Infinite-Horizon MPC[J]. Automobile Technology, 2026 , (3) : 18 -27 . DOI: 10.19620/j.cnki.1000-3703.20250007
Appendix
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Year 2026 volume Issue 3
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Article Info
doi: 10.19620/j.cnki.1000-3703.20250007
  • Online Date：2026-09-23
  • Published：2026-03-24
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  • Revised：2025-01-23
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Affiliations
    1.Hubei Key Laboratory of Automotive Power Train and Electronic Control, Hubei University of Automotive Technology, Shiyan 442002
    2.State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures, Shijiazhuang Tiedao University, Shijiazhuang 050043
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小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
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