Fault tolerant strategy for hybrid longitudinal control system of automated vehicles

In this paper, an observer-based fault tolerant control (FTC) approach is proposed for hybrid systems with uncontrollable state dependent switching, parametric uncertainties and without full continuous state measurements. Two kinds of faults are considered: continuous faults that affect each mode; discrete faults that affect the mode transition. A novel observer is designed for each mode whose estimation error is not affected by continuous faults and sensitive to mode transitions, then, an observer-based fault tolerant tracking controller is constructed to maintain the hybrid system´s satisfactory performance in spite of faults and uncertainties. The proposed method is applied to longitudinal control of automated vehicles.