Fault-Tolerant Control for Four-Wheels Independently Actuated Electric Vehicles
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Published
Dec 28, 2025
Farah Shalhoub
Majd Saied
Clovis Francis
Hussein Termous
Hassan Shraim
Abstract
This paper presents a novel Active Fault-Tolerant Control (AFTC) framework for a four-wheel drive (4WD) electric vehicle equipped with independently actuated in-wheel motors (IWMs). The presented approach consists of a fault detection and diagnosis (FDD) module and a compensation strategy. Once a fault is detected, the FDD module is activated, and as a consequence the fault will be identified, the faulty wheel will be isolated, and fault magnitude will be estimated. Then, based on the FDD module outputs, compensation module strategy is initiated. Compensation module employs a multi-parametric optimization technique to achieve the main objective of reducing the torque demand to the faulty actuator. Through extensive MATLAB/Simulink simulations, the results of this study showcase the effectiveness of the proposed AFTC system in managing multiplicative faults affecting the IWMs of the electric vehicle.
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Keywords
Fault Tolerant Control, Fault Diagnosis, Electric Vehicles
References
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Chokor, A., Talj, R. & Charara, A. (2022). A comparison between a centralised multilayer and a decentralised multilayer LPV/H_inf sliding mode control architectures for vehicle’s global chassis control. International Journal of Control, 95(2), 303-318. doi: 10.1080/00207179.2020.1791360
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EgberBakker, L. N. and Pacejka, H. B., (1987). Tyre modelling for use in vehicle dynamics studies. SAE Transactions, 96, 190–204. doi: https://www.jstor.org/stable/44470677
Guo, B. & Chen, Y. (2020). Robust Adaptive Fault-Tolerant Control of Four-Wheel Independently Actuated Electric Vehicles. IEEE Transactions on Industrial Informatics, 16(5), 2882–2894. doi: 10.1109/TII.2018.2889292
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Lu, M. & Xu, Z. (2021). Integrated Handling and Stability Control with AFS and DYC for 4WID–EVs via Dual Sliding Mode Control. Aut. Control Comp. Sci. 55, 243-252. doi.org/10.3103/S014641162103007X.
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Saied, M., Lussier, B., Fantoni, I., Shraim, H. & Francis, C. (2020). Active versus passive fault-tolerant control of a redundant multirotor UAV. The Aeronautical Journal, 124 (1273), 385-408. doi: 10.1017/aer.2019.149
Sakthivel, R., Mohanapriya, S., Kaviarasan, B., Ren, Y. & Anthoni, S. M. (2020). Non-fragile control design and state estimation for vehicle dynamics subject to input delay and actuator faults. IET Control Theory & Applications, 14(1), 134-144. doi: 10.1049/iet-cta.2018.5967
Selby, M., Manning, W., Brown, M. & Crolla, D. (2001). A Coordination Approach for DYC and Active Front Steering. SAE Transactions, Journal of Passenger car: Mechanical Systems Journal, 110, 1411-1417. doi: https://www.jstor.org/stable/44730996
Sun, R., Wang, W., Yang, C., and Zhang, Y. (2024). Nonsingular Fast Terminal Sliding Mode Fault-Tolerant Control Scheme for Four-Wheel-Independent-Drive Electric Vehicles with Fault Observer. IFAC-PapersOnLine, 58(29), 58–63. doi: 10.1016/j.ifacol.2024.11.120
Tarhini, F., (2021). Control architecture for an electric autonomous vehicle, equipped with 4 independent in-wheel electric motors. Master Thesis, University of Technology of Compiegne, France.
Termous, H., Talj, R., Francis, C. Shraim, H. and Charara, A. (2019). Coordinated control strategies for active steering, differential braking and active suspension for vehicle stability, handling and safety improvement. Vehicle System Dynamics, 57(10), 1494-1529. doi: 10.1080/00423114.2018.1521001
Tong, Y., Li, C., Wang, G. & Jing, H. (2022). Integrated Path-Following and Fault-Tolerant Control for Four-Wheel Independent-Driving Electric Vehicles. Automot. Innov., 5, 311-323. doi.org/10.1007/s42154-022-00187-z.
Wang, D., Gu, T. & Zhang, K. (2024). Fault Tolerant Control of 4-Wheel Independent Drive Vehicle Subject to Actuator Faults Based on Feasible Region. IEEE Transactions on Vehicular Technology, 73 (2), 1652-1666. doi: 10.1109/TVT.2023.3317010
Wang, R. & Wang, J. (2014). Actuator-Redundancy-Based Fault Diagnosis for Four-Wheel Independently Actuated Electric Vehicles. IEEE Transactions on Intelligent Transportation Systems, 15(1), 239-249. doi: 10.1109/TITS.2013.2277551
Wang, R. & Wang, J. (2018). Modeling and Fault-Tolerant-Control of Four-Wheel-Independent-Drive EVs. In: Zhang, H., Cao, D. & Du, H. Modeling, Dynamics and Control of Electrified Vehicles (409-449). Woodhead Publishing.
Zhu, J., Ouyang, X., Jiang, Z., Xu, Y., Xue, H., Yue, H. & Feng, H. (2025). In-Wheel Motor Fault Diagnosis Method Based on Two-Stream 2DCNNs with DCBA Module. Sensors, 25(15), 4617. doi.org/10.3390/s25154617
Zhu, S., Li, H., Wang, G., Kuang, C., Chen, H., Gao, G. & Xie, W. (2023). Research on Fault-Tolerant Control of Distributed-Drive Electric Vehicles Based on Fuzzy Fault Diagnosis. Actuators, 12(6), 246. doi.org/10.3390/act12060246
Zhu, S., Lu, J., Zhu, L., Chen, H., Gao, J. & Xie, W. (2024). Coordinated Control of Differential Drive-Assist Steering and Direct Yaw Moment Control for Distributed-Drive Electric Vehicles. Electronics, 13(18), 3711. doi: doi.org/10.3390/electronics13183711
Bardawil, C., Talj, R., Francis, C., Charara, A. & Doumiati, M. (2014). Integrated vehicle lateral stability control with different coordination strategies between active steering and differential braking. 17th International IEEE Conference on Intelligent Transportation Systems (ITSC) (314-319), October 08-11, China. doi: 10.1109/ITSC.2014.6957710
Chen, T., Chen, L., Xu, X., Cai, Y., Jiang, H. & Sun, X. (2019). Passive actuator-fault-tolerant path following control of autonomous ground electric vehicle with in-wheel motors. Advances in Engineering Software, 134, 22-30. doi.org/10.1016/j.advengsoft.2019.05.003
Chokor, A., Talj, R., Charara, A., Shraim, H. & Francis, C. (2016). Active suspension control to improve passengers’ comfort and vehicle’s stability. IEEE 19th International Conference on Intelligent Transportation Systems (ITSC) (296–301), November 01-04, Brazil. doi: 10.1109/ITSC.2016.7795570
Chokor, A., Talj, R. & Charara, A. (2022). A comparison between a centralised multilayer and a decentralised multilayer LPV/H_inf sliding mode control architectures for vehicle’s global chassis control. International Journal of Control, 95(2), 303-318. doi: 10.1080/00207179.2020.1791360
Deng, H., Zhao, Y., Nguyen, A.T. & Huang, C. (2023). Fault-Tolerant Predictive Control with Deep-Reinforcement Learning Based Torque Distribution for Four In-Wheel Motor Drive Electric Vehicles. IEEE/ASME Transactions on Mechatronics, 28(2), 668-680. doi: 10.1109/TMECH.2022.3233705
Dong, J., Li, J., Gao, Q., Hu, J. & Liu, Z. (2024). Optimal coordinated control of active steering and direct yaw moment for distributed-driven electric vehicles. Control Engineering Practice, 134, 105486. doi: 10.1016/j.conengprac.2023.105486
Doumiati, M., Sename, O., Dugard, L., Martinez-Molina, J.-J., Gaspar, P. & Szabo, Z. (2013). Integrated vehicle dynamics control via coordination of active front steering and rear braking. European Journal of Control, 19(2), 121-143. doi: 10.1016/j.ejcon.2013.03.004
EgberBakker, L. N. and Pacejka, H. B., (1987). Tyre modelling for use in vehicle dynamics studies. SAE Transactions, 96, 190–204. doi: https://www.jstor.org/stable/44470677
Guo, B. & Chen, Y. (2020). Robust Adaptive Fault-Tolerant Control of Four-Wheel Independently Actuated Electric Vehicles. IEEE Transactions on Industrial Informatics, 16(5), 2882–2894. doi: 10.1109/TII.2018.2889292
Guo, J., Dai, Z., Liu, M., Xie, Z., Jiang, Y., Yang, H. & Xie, D. (2024a). Distributed Drive Electric Vehicle Handling Stability Coordination Control Framework Based on Adaptive Model Predictive Control. Sensors, 24(15), 4811. doi: 10.3390/s24154811
Guo, M., Bao, C., Cao, Q., Xu, F., Miao, X. & Wu, J. (2024b). Fault-Tolerant Control Study of Four-Wheel Independent Drive Electric Vehicles Based on Drive Actuator Faults. Machines, 12(7), 450. https://doi.org/10.3390/machines12070450
He, J., Crolla, D. A., Levesley, M. C. & Manning, W. J., (2006). Coordination of active steering, driveline, and braking for integrated vehicle dynamics control. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 220(10), 1401-1420. doi: 10.1243/09544070JAUTO
Khelladi, F., Orjuela, R. & Basset, M. (2020). Coordinated AFS and DYC for autonomous vehicle steerability and stability enhancement. IFAC-PapersOnLine, 53(2), 14248-14253. doi:10.1016/j.ifacol.2020.12.1160.
Laghmara, H., Doumiati, M., Talj, R. & Charara, A. (2017). Yaw moment Lyapunov based control for In-Wheel-Motor-Drive Electric Vehicle. IFAC-PapersOnLine, 50(1), 13828-13833. doi: 10.1016/j.ifacol.2017.08.2189
Lian, Y., Chen, G., & Liu, P. (2025). Study of Yaw Moment Control Strategy of Four-Wheel Independent Drive Electric vehicle. Automotive Innovation, 8, 157-168. doi: 10.1007/s42154-024-00287-y
Lu, M. & Xu, Z. (2021). Integrated Handling and Stability Control with AFS and DYC for 4WID–EVs via Dual Sliding Mode Control. Aut. Control Comp. Sci. 55, 243-252. doi.org/10.3103/S014641162103007X.
Mtairek, A., (2020). Robust Vehicle Trajectory-Tracking Control. Master Thesis, Lebanese University, Lebanon.
Saied, M., Lussier, B., Fantoni, I., Shraim, H. & Francis, C. (2020). Active versus passive fault-tolerant control of a redundant multirotor UAV. The Aeronautical Journal, 124 (1273), 385-408. doi: 10.1017/aer.2019.149
Sakthivel, R., Mohanapriya, S., Kaviarasan, B., Ren, Y. & Anthoni, S. M. (2020). Non-fragile control design and state estimation for vehicle dynamics subject to input delay and actuator faults. IET Control Theory & Applications, 14(1), 134-144. doi: 10.1049/iet-cta.2018.5967
Selby, M., Manning, W., Brown, M. & Crolla, D. (2001). A Coordination Approach for DYC and Active Front Steering. SAE Transactions, Journal of Passenger car: Mechanical Systems Journal, 110, 1411-1417. doi: https://www.jstor.org/stable/44730996
Sun, R., Wang, W., Yang, C., and Zhang, Y. (2024). Nonsingular Fast Terminal Sliding Mode Fault-Tolerant Control Scheme for Four-Wheel-Independent-Drive Electric Vehicles with Fault Observer. IFAC-PapersOnLine, 58(29), 58–63. doi: 10.1016/j.ifacol.2024.11.120
Tarhini, F., (2021). Control architecture for an electric autonomous vehicle, equipped with 4 independent in-wheel electric motors. Master Thesis, University of Technology of Compiegne, France.
Termous, H., Talj, R., Francis, C. Shraim, H. and Charara, A. (2019). Coordinated control strategies for active steering, differential braking and active suspension for vehicle stability, handling and safety improvement. Vehicle System Dynamics, 57(10), 1494-1529. doi: 10.1080/00423114.2018.1521001
Tong, Y., Li, C., Wang, G. & Jing, H. (2022). Integrated Path-Following and Fault-Tolerant Control for Four-Wheel Independent-Driving Electric Vehicles. Automot. Innov., 5, 311-323. doi.org/10.1007/s42154-022-00187-z.
Wang, D., Gu, T. & Zhang, K. (2024). Fault Tolerant Control of 4-Wheel Independent Drive Vehicle Subject to Actuator Faults Based on Feasible Region. IEEE Transactions on Vehicular Technology, 73 (2), 1652-1666. doi: 10.1109/TVT.2023.3317010
Wang, R. & Wang, J. (2014). Actuator-Redundancy-Based Fault Diagnosis for Four-Wheel Independently Actuated Electric Vehicles. IEEE Transactions on Intelligent Transportation Systems, 15(1), 239-249. doi: 10.1109/TITS.2013.2277551
Wang, R. & Wang, J. (2018). Modeling and Fault-Tolerant-Control of Four-Wheel-Independent-Drive EVs. In: Zhang, H., Cao, D. & Du, H. Modeling, Dynamics and Control of Electrified Vehicles (409-449). Woodhead Publishing.
Zhu, J., Ouyang, X., Jiang, Z., Xu, Y., Xue, H., Yue, H. & Feng, H. (2025). In-Wheel Motor Fault Diagnosis Method Based on Two-Stream 2DCNNs with DCBA Module. Sensors, 25(15), 4617. doi.org/10.3390/s25154617
Zhu, S., Li, H., Wang, G., Kuang, C., Chen, H., Gao, G. & Xie, W. (2023). Research on Fault-Tolerant Control of Distributed-Drive Electric Vehicles Based on Fuzzy Fault Diagnosis. Actuators, 12(6), 246. doi.org/10.3390/act12060246
Zhu, S., Lu, J., Zhu, L., Chen, H., Gao, J. & Xie, W. (2024). Coordinated Control of Differential Drive-Assist Steering and Direct Yaw Moment Control for Distributed-Drive Electric Vehicles. Electronics, 13(18), 3711. doi: doi.org/10.3390/electronics13183711
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Technical Papers