Simultaneous vehicle automatic steering and fault detection

Author

Mammar, Said

Author_Institution

Instilut Nalional de Rech. sur les Transp. et leur Securite, Univ. d´Evry vai d´Essoime, Arcueil, France

fYear

1999

fDate

Aug. 31 1999-Sept. 3 1999

Firstpage

1411

Lastpage

1416

Abstract

In this paper, steering control of ground vehicles is studied with integrated control and 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 for several vehicle maneuvers and sensor and actuator faults.

Keywords

H^∞ control; actuators; closed loop systems; control system synthesis; electric sensing devices; fault diagnosis; fault tolerant control; linear matrix inequalities; linearisation techniques; road vehicles; steering systems; LMI-based H_∞ design; actuator fault; closed loop system; cone complementary linearization algorithm; controller reduction; fault detection and isolation; ground vehicle automatic steering control; integrated control; sensor fault; vehicle maneuvers; Actuators; Attenuation; Fault detection; Gravity; Minimization; Roads; Vehicles; Controller reduction; FDI; LMI; Vehicle lateral control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1999 European

Conference_Location

Karlsruhe

Print_ISBN

978-3-9524173-5-5

Type

conf

Filename

7099509