The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional redundancies among the actuators, is one means to achieve the required degree of fault tolerance. Therefore, we give a comprehensive overview of the state of the art in actuator fault-tolerant vehicle motion control with a focus on drive, brake, and steering degradations, as well as tire blowouts. This review shows that actuator fault-tolerant vehicle motion is a widely studied field; yet, the presented approaches differ with respect to many aspects. To provide a starting point for future research, we survey the employed actuator topologies, the tolerated degradations, the presented control approaches, as well as the experiments conducted for validation. Overall, and despite the large number of different approaches, the covered literature reveals the potential of increasing fault tolerance by fault-tolerant vehicle motion control. Thus, besides developing novel approaches or demonstrating real-time applicability, future research should aim at investigating limitations and enabling comparison of fault-tolerant motion control approaches in order to allow for a thorough safety argumentation.
Fault-Tolerant Formation Tracking of Heterogeneous Multi-Agent Systems with Time-Varying Actuator Faults and Its Application to Task-Space Cooperative Tracking of Manipulators
Fault-Tolerant Control of a 2 DOF Helicopter (TRMS System) Based on H_infinity
LASS Laboratory, Department of Electrical engineering, University of M’sila（穆西拉大学电气工程系LASS实验室）；LASS Laboratory, Department of Electronics, University of M’sila（穆西拉大学电子系LASS实验室）；Department of Electronics, University of Blida（布利达大学电子系）
Distributed Adaptive Fault-Tolerant Control of Uncertain Multi-Agent Systems
Wright State University（赖特州立大学）；University of Cyprus（塞浦路斯大学）；Imperial College London（伦敦帝国学院）；University of Trieste（的里雅斯特大学）；Air Force Research Laboratory（空军研究实验室）
