Title :
Simultaneous vehicle automatic steering and fault detection
Author_Institution :
Instilut Nalional de Rech. sur les Transp. et leur Securite, Univ. d´Evry vai d´Essoime, Arcueil, France
fDate :
Aug. 31 1999-Sept. 3 1999
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;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5
