| FAULT-TOLERANT YAW MOMENT CONTROL WITH STEER - AND BRAKE-BY-WIRE DEVICES |
| S. YIM |
| Seoul National University of Science and Technolog |
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| ABSTRACT |
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This paper presents an fault-tolerant yaw moment control for a vehicle with steer-by-wire (SBW) and brakeby- wire (BBW) devices. SBWs and BBWs can give active front steering (AFS) and electronic stability control (ESC) functions, respectively. Due to motor-driven devices, actuator and sensor faults are inherent in SBW and BBW, and can cause a critical damage to a vehicle. Simple direct yaw moment control is adopted to design a vehicle stability controller. To cope with actuator failure, weighted pseudo-inverse based control allocation (WPCA) with variable weights is proposed in yaw moment distribution procedure. Simulations on vehicle simulation software, CarSim |
| Key Words:
Fault-tolerant control, Steer-by-wire, Brake-by-wire, Electronic stability control, Active front steering, Weighted pseudo-inverse based control allocation |
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