Chao-Zhe Guo

A data–model collaborative fault-tolerant control method for four-in-wheel-motor unmanned ground vehicles under wheel-corner actuator module faults

Four in-wheel motor drive systems allow fully independent control of wheel torques, thereby improving the maneuverability of unmanned ground vehicles (UGVs). However, the introduction of multi-sensor architectures and distributed actuators increases system complexity, which raises the probability of motor failures and...