Robust Fault- Tolerant Control Algorithm for Intelligent Vehicles Based on LPV Model

This paper explores robust fault-tolerant control (FTC) of intelligent vehicles based on the linear parameter-varying (LPV) model. The vehicle system is a complex nonlinear system, making it challenging to design FTC algorithms. Firstly, an LPV model is developed for the vehicle system, aiding in understanding and predicting the system's behavior. Secondly, an error control system is designed for the vehicle, combining feedforward and feedback control to enhance the performance of the error tracking system. Finally, a state feedback control algorithm is designed for the vehicle system to cope with actuator failures. The algorithm is validated through high-fidelity Simulink simulations.