Fault Tolerant Design for Autonomous Vehicle
Abstract : A fault-tolerant control design strategy based upon sliding mode control and a descriptor observer for Lipschitz system is presented. The aim is to mitigate the vehicle speed faults and provide accurate measurements for the control. Thus, the additive faults affecting the vehicle speed sensor are estimated, and accurate speed measurments are used to control the vehicle speed instead of the faulty ones. Sufficient conditions and obsrever gain are designed by use of Lyapunov theory, satisfying L2- gain norm and H1 criterions. These conditions are derived under the well known Linear Matrix Inequality. The optimal designed gains ensure robustness against disturbances and additive sensor faults. A nonlinear longitudinal vehicle dynamic is considered to demonstrate the performance of the proposed design to achieve the spacing control task. Computer simulations are addressed to validate the proposed controller in autonomous vehicle scenario.
Mohamed Riad Boukhari, Sébastien Glaser, Ahmed Chaibet, Moussa Boukhnifer. Fault Tolerant Design for Autonomous Vehicle. 4 th International Conference on Control, Decision and Information Technologies, Apr 2017, Barcelone, Spain. 2017. <hal-01486599>
