MPC-based fault tolerant control system for yaw stability of distributed drive electric vehicle

In generals, the yaw stability of distributed drive electric vehicle (DDEV) is hard to be ensured, because the yaw performance is affected by the actuator and sensor faults, as well as system modelling error. To attenuate the effect of these faults, a novel model predictive controller-based fault tolerant control system (MPC-FTCS) is proposed, which includes two MPCs. In one MPC, the sensor fault and system modelling error can be tolerated by the linear quadratic regulation (LQR) design. Another MPC is designed as an observer to estimate and compensate for the actuator fault. The proposed MPC-FTCS is tested on the Matlab simulation environment and the results show advantages of this control system.