Abstract
This paper proposes a fault tolerant control (FTC) scheme based on sliding mode control for multi-motor electric vehicles. A design method of a sliding mode tracking controller with control allocation is developed based on the information provide by fault detection and identification (FDI) mechanism. The vehicles states yaw rate and longitudinal velocity are simultaneously controlled to track their references. A particular attention is given to study the effect of non-perfect fault estimation. The control allocation explore the over actuated system in order to redistribute the control effort when a fault occurs. Simulations in various driving scenarios with different faults are carried out with a high-fidelity, CarSim, full-vehicle model. Simulation results show the effectiveness of the proposed FTC approach.

Abstract
The current vehicle stability control techniques relies on an accurate sensor information and a complete system definition, such information is not easily obtained and requires expensive sensor technology. In this work it is presented a fusion algorithm for estimating the vehicle handling dynamic states, using inertial measurements combined with Global Positioning System (GPS) information, based on the Extended Kalman Filter algorithm (EKF). The proposed method will be able to track the state of the variable vector that includes the yaw rate, lateral velocity and longitudinal velocity of the vehicle using the information of the available sensors combined with the non-linear model of the system. In order to validate the proposed sensor fusion algorithm a simulation with a high-fidelity CarSim model is carried out and its sensors are compared with Extended Kalman Filter state variables.

Abstract
This paper addresses the tracking problem of the state variables of a nonlinear planar dynamic model of an overactuated electric vehicle with four-wheel independent drive (4WID) topology. In order to track the state variables of the system it is proposed a new sliding mode controller based on a nonlinear planar model. The controller explores the overactuated system in order to redistribute the control effort to the remaining actuators when a fault occurs. Although the system has multiple solutions due to the access of the torque applied in each wheel independently, there could be particular fault events where the remaining healthy actuators may not be able to maintain the system stability. In those particular cases the inclusion of the steering control variable is an important advantage as it allows the controller to manipulate the control effort in any directions. The proposed controller is validated in various driving scenarios with different fault schemes. The simulations are carried out with a high-fidelity vehicular model provided by the simulation software Carsim in co-simulation with Matlab/Simulink.

Abstract
Unknown input observers (UIO) can be used in the model-based fault diagnosis (FD) system to reduce or eliminate the effect of unknown disturbances present on the process and used to create a set of residuals that are decoupled and sensitive to faults. In this work, a new FD scheme of the In-Wheel motors electric vehicle (IWM-EV) with active front steering was carried out, as well as the design of the fault isolation banks of UIOs. These banks are used to generate residuals that are robust againts to noise and are sensitive to only one fault. This way the faults in the steering or in-wheel actuator are detected and isolated with a higher rate of accuracy. The proposed FD scheme is verified by Carsim® and Matlab/Simulink® cosimulation. © 2017 Taylor & Francis Group, London.

Abstract
High level vehicle automation systems are currently being studied to attenuate highway traffic and energy consumption by applying the concept of platooning, which has gained increased attention due to progresses in the next generation of mobile communication (5G). The introduction of more complex automation systems originates, however, fault entry points that hinders the system safety and resilience. This paper presents an initial control architecture for the electric vehicles platoon from a fault-tolerant control perspective. To achieve a fault-tolerant platooning structure an over-actuated electric vehicle topology is proposed which may allow the implementation of different redundancies. Furthermore, some of the major challenges in the platooning network control system (NCS) are presented and the techniques to overcome these issues are explored.

Abstract
Renewable energy sources are environmentally appealing in electrical power grids. However, distributed energy resources (DER) are typically connected to the grid through converters that do not have the same properties as synchronous generators which have high participation in power generation. Some of these properties like inertial response are important and must not be lost with higher DER penetration. The present paper analyses two converter control algorithms that are capable of emulating inertial response in DER: the Virtual Synchronous Generator control (VSG) and the Synchronverter. Both algorithms are described, implemented and tested in a practical experiment and a comparison of both algorithms is assessed in terms of frequency nadir achieved, settling time and implementation complexity. The findings can give useful insights to help decide which algorithm should be implemented in a future real application.