Two longitudinal fault tolerant control architectures for an autonomous vehicle

摘要

This paper presents two Fault Tolerant schemes for more reliable spacing control of an autonomous vehicle. The nonlinear longitudinal model of the vehicle is described by the Lipschitz representation. Based upon this representation, a state feedback integral controller is designed, as well as, fault estimation observers. This proposal work is focused on Lyapunov theory ensuring H-infinity criterion and L-2-gain norm in the development of the Linear Matrix Inequality constraints. The design also includes an estimation of vehicle states and an additive fault with the purpose of achieving highly robust and safe vehicle inter-distance control. To carry out this work, experiments are highlighted on prototype vehicle to validate the proposed FTC scheme in different autonomous driving scenarios. (C) 2018 International Association for Mathematics and Computers in Simulation (IMACS). Published by Elsevier B.V. All rights reserved.