Event-Triggered Adaptive Fuzzy Switching Fault-Tolerant Control of Dual-Motor Steer-by-Wire System Considering Load Fluctuation and Limited Communication Bandwidth
Kunhao Xu, Chunyan Wang, Wanzhong Zhao, Zhongkai Luan, Weihe Liang, Senhao Zhang, Ziyu Zhang
Abstract
In order to promote the safety redundancy of steer-by-wire system, a dual-motor steer-by-wire (DMSBW) system is designed in this paper. However, when one of the steering motors fails seriously, the vehicle's angle tracking performance is affected, which is exacerbated by load fluctuation and limited CAN communication bandwidth in the control system. Therefore, we innovatively establish DMSBW switching control model and propose an event-triggered adaptive fuzzy switching fault-tolerant control strategy. Firstly, the interval type-2 fuzzy state observer is used to estimate the state of the nonlinear DMSBW system and the time-varying fluctuation of the load torque before and after switching. Then, the prescribed performance adaptive backstepping controller is designed to solve the control output by fusing the error and fault event-triggered controller to realize the unification of switching fault tolerance and accurate tracking while reducing communication resources. And the switching fault-tolerant performance under both transient and steady state is guaranteed by proving Lyapunov stability and boundedness. Finally, hardware-in-the-loop experiments show that the proposed method is effective.