Proactive Switching Control for Dual-Redundant Electro-Hydraulic Brake System Based on Quantification of Fault-Tolerant Bound

The dual-redundant electro-hydraulic brake (DREHB) system is of pivotal significance in ensuring vehicle braking reliability. However, a key challenge in leveraging the DREHB system lies in determining the redundancy switching time when faults occur. To address this issue, this article proposes a novel proactive switching control scheme for DREHB based on quantified fault-tolerant bound. First, a hybrid model prediction robust controller is designed for DREHB to achieve optimal performance under various system uncertainties. Second, the fault-tolerant bound of DREHB is numerically determined by constructing the maximal and minimal robust positively invariant sets. On this basis, a proactive redundancy switching mechanism is triggered to ensure timely switching prior to the occurrence of severe malfunctions. Simulation and experimental results validate the effectiveness and superiority of the proposed method.