Fault-Tolerant Control of the Road Wheel Subsystem in a Steer-By-Wire System

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="859571.fig.009a" src="https://static.hindawi.com/articles/ijvt/volume-2008/859571/figures/859571.fig.009a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Phase current of motor 1</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="859571.fig.009b" src="https://static.hindawi.com/articles/ijvt/volume-2008/859571/figures/859571.fig.009b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Phase current of motor 2</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="859571.fig.009c" src="https://static.hindawi.com/articles/ijvt/volume-2008/859571/figures/859571.fig.009c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Pinion angle: actual versus desired</td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="859571.fig.009d" src="https://static.hindawi.com/articles/ijvt/volume-2008/859571/figures/859571.fig.009d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>Arbitration bus signal for the slave controller</td></tr></table></td></tr></table>

International Journal of Vehicular Technology

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Figure 9

Figure 9: Fault-Tolerant Control of the Road Wheel Subsystem in a Steer-By-Wire System 