Robust control and fault detection synthesis with application to tractor-semitrailer automatic steering

Author

Mammar, S. ; Baghdassarian, V. Badal ; Koenig, D.

Author_Institution

INRETS, Arcueil, France

fYear

2000

fDate

2000

Firstpage

86

Lastpage

91

Abstract

Automatic steering of tractor-semitrailer is studied with integrated control, detection and isolation of sensor and actuator fault (FDI) in closed loop. We formulate both the steering control and the fault detection and isolation problems using LMI-based H_∞ design. Controller reduction is performed using cone complementary linearization algorithm. The performance of the steering controller and FDI capabilities are simulated by considering several maneuvers such as lane keeping and lane change with parameter variations and sensor and actuator faults

Keywords

H^∞ control; closed loop systems; control system synthesis; fault location; linearisation techniques; matrix algebra; motion control; robust control; vehicles; FDI; LMI-based H_∞ design; actuator fault; closed loop; cone complementary linearization algorithm; fault detection synthesis; fault isolation; integrated control; lane change; lane keeping; parameter variations; robust control; sensor fault; tractor-semitrailer automatic steering; Actuators; Automatic control; Centralized control; Change detection algorithms; Fault detection; Roads; Robust control; Robustness; Tires; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on

Conference_Location

Anchorage, AK

Print_ISBN

0-7803-6562-3

Type

conf

DOI

10.1109/CCA.2000.897404

Filename

897404