Design of integrated control for road vehicles using LPV methods

The aim of the paper is to present a multi-layer supervisory architecture for the design and development of integrated control systems in road vehicles. The performance specifications are guaranteed by the local controllers, while the coordination of these components is provided by the supervisor. Since monitoring components and the FDI filters provide the supervisor with information about the various vehicle maneuvers and the different fault operations, it is able to make decisions about the necessary interventions into the vehicle motions and guarantee the reconfigurable and fault-tolerant operation of the vehicle. The advantage of this architecture is that local controllers are designed independently provided that the monitoring and fault signals are taken into consideration in the formalization of their performance specifications. The design of local controllers are based on LPV methods.