Fault Tolerant Design for Autonomous Vehicle
BOUKHARI ; GLASER ; CHAIBET ; BOUKHNIFER
Type de document
COMMUNICATION AVEC ACTES INTERNATIONAL (ACTI)
Langue
anglais
Auteur
BOUKHARI ; GLASER ; CHAIBET ; BOUKHNIFER
Résumé / Abstract
A fault-tolerant control design strategy based uponsliding mode control and a descriptor observer for Lipschitzsystem is presented. The aim is to mitigate the vehicle speed faultsand provide accurate measurements for the control. Thus, theadditive faults affecting the vehicle speed sensor are estimated,and accurate speed measurments are used to control the vehiclespeed 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 underthe well known Linear Matrix Inequality. The optimal designedgains ensure robustness against disturbances and additive sensorfaults. A nonlinear longitudinal vehicle dynamic is considered todemonstrate the performance of the proposed design to achievethe spacing control task. Computer simulations are addressed tovalidate the proposed controller in autonomous vehicle scenario.
