Fault-tolerant control of electric vehicle based on integral fast terminal sliding mode

Aiming at addressing the actuator failure of the distributed drive electric vehicles drive system, this paper introduces an integral term of yaw rate error on the basis of fast terminal sliding mode fault-tolerant controller. Furthermore, a fault-tolerant control method based on integral fast terminal sliding mode is proposed. Given the concurrent optimization objectives of stability and economy, a multi-objective fault-tolerant control allocation method is introduced. To harmonize these objectives, a weight adjustment strategy based on the phase plane method is proposed. By dynamically adjusting the weights of stability and economy, fault-tolerant control is achieved while enhancing vehicle economy. Simulation results demonstrate that the yaw moment derived from the integral fast terminal sliding mode fault-tolerant control minimizes the steady-state error and converges faster, thus enhancing vehicle stability. Notably, the RMSE of vehicle yaw rate is reduced by 15.31% under the condition of double-lane-change on high-adhesion roads. Additionally, the multi-objective fault-tolerant control strategy improves the economy by 4.60% while maintaining the stability of the vehicle, and the proposed weight adjustment strategy effectively realizes the dynamic coordination of stability and economy optimization objectives.