RECONFIGURATION ON ELECTRIC VEHICLE AFTER MAJOR ACTUATOR FAULTS

In this paper, a longitudinal and lateral dynamic nonlinear model of an electric vehicle (known as “RobuCar”) composed on 6 actuators is developed for the first time. Each wheel is controlled by DC motor and the steering angle is also controlled by DC motors (one for front and one for the rear). The objective of this paper is to develop algorithms for active reconfiguration when major faults occur on actuators. Online, while the process is running, FDI process is in charge, using nonlinear model of the plant, of detecting and isolating faulty actuators. Then, using only healthy actuators, the controller is based on feedback linearization followed by a linear quadratic control law. The reconfiguration consists of switching the control law from the nominal mode to the corresponding control law computed offline.