This paper describes a fault-tolerant steer-by-wire road wheel control system. With dual motor and dual microcontroller\r\narchitecture, this system has the capability to tolerate single-point failures without degrading the control system performance. The\r\narbitration bus, mechanical arrangement of motors, and the developed control algorithm allow the system to reconfigure itself\r\nautomatically in the event of a single-point fault, and assure a smooth reconfiguration process. Both simulation and experimental\r\nresults illustrate the effectiveness of the proposed fault-tolerant control system.
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