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Two longitudinal fault tolerant control architectures for an autonomous vehicle

Author

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

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.

Suggested Citation

  • Boukhari, Mohamed Riad & Chaibet, Ahmed & Boukhnifer, Moussa & Glaser, Sébastien, 2019. "Two longitudinal fault tolerant control architectures for an autonomous vehicle," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 156(C), pages 236-253.
    • Handle: RePEc:eee:matcom:v:156:y:2019:i:c:p:236-253
    DOI: 10.1016/j.matcom.2018.08.002
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    References listed on IDEAS

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    1. Zhenhua Wang & Yi Shen & Xiaolei Zhang, 2014. "Actuator fault estimation for a class of nonlinear descriptor systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 45(3), pages 487-496.
    2. Hedrick, Karl & Et. al.,, 1997. "Brake System Modeling, Control And Integrated Brake/throttle Switching Phase I," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt02b8f7q2, Institute of Transportation Studies, UC Berkeley.
    3. Pham, Hung & Tomizuka, Masayoshi & Hedrick, J. Karl, 1997. "Integrated Maneuvering Control For Automated Highway Systems Based On A Magnetic Reference/sensing System," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7hk255bn, Institute of Transportation Studies, UC Berkeley.
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    Cited by:

    1. Gu, Yewen & Goez, Julio C. & Mario, Guajardo & Wallace, Stein W., 2019. "Autonomous vessels: State of the art and potential opportunities in logistics," Discussion Papers 2019/6, Norwegian School of Economics, Department of Business and Management Science.

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