Two longitudinal fault tolerant control architectures for an autonomous vehicle

Mohamed Riad Boukhari, Ahmed Chaibet, Moussa Boukhnifer and Sébastien Glaser

Mathematics and Computers in Simulation (MATCOM), 2019, vol. 156, issue C, 236-253

Abstract: This paper presents two Fault Tolerant schemes for more reliable spacing control of an autonomous vehicle. The nonlinear longitudinal model of the vehicle is described by the Lipschitz representation. Based upon this representation, a state feedback integral controller is designed, as well as, fault estimation observers. This proposal work is focused on Lyapunov theory ensuring H∞ criterion and L2-gain norm in the development of the Linear Matrix Inequality constraints. The design also includes an estimation of vehicle states and an additive fault with the purpose of achieving highly robust and safe vehicle inter-distance control. To carry out this work, experiments are highlighted on prototype vehicle to validate the proposed FTC scheme in different autonomous driving scenarios.

Keywords: Autonomous driving; Fault-tolerant control; Fault estimation; Linear matrix inequality (search for similar items in EconPapers)
Date: 2019
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Citations: View citations in EconPapers (1)

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Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:156:y:2019:i:c:p:236-253

DOI: 10.1016/j.matcom.2018.08.002

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