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
Energy storage in low voltage grid is receiving increased attention due to renewables integration and consumption growth, challenges faced nowadays by grid operators. In this work, a study of main implementation issues for community energy storage (CES) is presented along with a comparison between possible solutions for the bidirectional isolated power conversion system (PCS) to interface a battery pack with the electric power grid. The aim of this research is to increase the power density of the power converter and keeping simultaneously the same reliability of traditional solutions. These goals are pursued to be achieved through the reduction of the conversion stages and utilization of new optimization methodologies to reduce the volume of the passive components. The proposed topology for the PCS is based on a matrix converter (MC) that performs a direct AC to AC conversion between the grid and a high-frequency transformer (HFT). With this solution it is possible to eliminate the traditional DC-link capacitor and obtain a single-stage power conversion with bidirectional power flow capability. This proposed solution is evaluated and compared with a conventional two-stage topology through extensive simulation. Two prototypes systems were designed for a 10kW PCS to connect the three-phase 230/400Vrms, 50Hz mains to a battery pack with voltage range of 320V to 490V. Simulation results are presented to assess the power quality provided by the front-end and the battery side converters, as well as performance evaluation and efficiency analysis.

Abstract
This paper presents a comparative study of the influence of different aggregated electrical circuit battery models in the sizing process of a hybrid energy storage system (ESS), composed by Li-ion batteries and supercapacitors (SCs). The aim is to find the number of cells required to propel a certain vehicle over a predefined driving cycle. During this process, three battery models will be considered. The first consists in a linear static zeroeth order battery model over a restricted operating window. The second is a non-linear static model, while the third takes into account first-order dynamics of the battery. Simulation results demonstrate that the adoption of a more accurate battery model in the sizing of hybrid ESSs prevents over-sizing, leading to a reduction in the number of cells of up to 29%, and a cost decrease of up to 10%.

Abstract
ISO 26262, a functional-safety standard, uses Automotive Safety Integrity Levels (ASILs) to assign safety requirements to automotive-system elements. System designers initially assign ASILs to system-level hazards and then allocate them to elements of the refined system architecture. Through ASIL decomposition, designers can divide a function’s safety requirements among multiple components. However, in practice, manual ASIL decomposition is difficult and produces varying results. To overcome this problem, a new tool automates ASIL allocation and decomposition. It supports the system and software engineering life cycle by enabling users to efficiently allocate safety requirements regarding systematic failures in the design of critical embedded computer systems. The tool is applicable to industries with a similar concept of safety integrity levels. © 1984-2012 IEEE.

Abstract
This work focuses on the development of a pressure-loop controller for a hybrid brake-by-wire system, composed of a hydraulic link and an electro-mechanical actuator. Towards this goal, we will start by constructing a reduced model that is capable of capturing the fundamental dynamics of the actuator, which is particularly useful for control design purposes. Motivated by the large friction disturbances that affect the system, we also investigate linear-in-the-parameter models suitable for (online) model-based friction compensation. More specifically, results from the theory of function approximation, together with optimization techniques, are explored to approximate the Stribeck friction model through a linear-in-the-parameter model. This new linear-in-the-parameter model is then employed in the design of a control law for tracking the braking pressure of the hybrid brake-by-wire. The main features of this controller are the robustness to parametric uncertainties, thanks to the inclusion of a switching-sigma adaptive mechanism, and the attenuation of non-parametric disturbances with a continuous sliding mode action. The stability and robustness properties of the closed-loop system are investigated with the help of the Lyapunov method. Finally, experimental tests demonstrate the effectiveness of the proposed approach and its ability to handle disturbances.

Abstract
The new vehicle platforms for electric vehicles (ENTs) that are becoming available are characterised by actuator redundancy, which makes it possible to jointly optimise different aspects of the vehicle motion. To do this, high-level control objectives are first specified and solved with appropriate control r strategies. Then, the resulting virtual control action must be translated into actual actuator commands by a control allocation layer that takes care of computing the forces to be applied at the wheels. This step, in general, is quite demanding as for as computational complexity is considered. In this work, a safety-oriented approach to this problem is proposed. Specifically, a four-wheel steer EV with four in-wheel motors is considered, and the high-level motion controller is designed within a sliding mode framework with conditional integrators. For distributing the forces among the tyres, two control allocation approaches are investigated. The first, based on the extension of the cascading generalised inverse method, is computationally efficient but shows some limitations in dealing with unfeasible force values. To solve the problem, a second allocation algorithm is proposed, which relies on the linearisation of the tyre road friction constraints. Extensive tests, carried out in the CarSim simulation environment, demonstrate the effectiveness of the proposed approach.