针对4WID/4WIS电动车故障后的容错控制问题，设计了以最大化车辆故障后稳定性为控制目标的容错控制算法．容错控制器采用分层控制结构，上层为基于模型预测控制理论的运动控制器，下层为基于重构控制分配方法的重构控制分配器．对于驱动电机的多种故障情况，离线设计了重构控制分配律，旨在保持车辆期望的动力学响应，同时最大化车辆故障后的稳定性．仿真结果表明，在发生多种驱动电机故障后，容错控制算法仍能保证车辆具有期望的运动轨迹，提高了车辆故障后的稳定性、安全性和操纵性．

Proposed in this paper is a fault- tolerant control (FTC) algorithm for the 4WID/4WIS electric vehiclesafter faults,which takes the maximum post- fault vehicle stability as the control objective.The fault- tolerant control-ler adopts a hierarchical structure consisting of an upper motion controller based on the model predictive control(MPC) theory and a lower reconfigurable control allocator based on the reconfigurable control allocation method.Moreover,a re- allocation law considering multiple fault conditions of the driving motor is designed off line so as tomaintain the desired vehicle dynamics after faults.Simulated results show that the proposed FTC algorithm guaran-tees the desired dynamics and trajectory even under multiple fault conditions of the driving motor,so that it im-proves the post- fault stability and safety as well as the handling of vehicles.