Tolerant control for an autonomous vehicle subject to faulty steering system
Résumé
This paper deals with the design of an intelligent controller acting on each rear wheel velocity with the the objective to ensure vehicle stability. it is shown that the vehicle trajectory may be controlled using each wheel independently which increases the safety of the whole system. The control law is designed using a nonlinear car model. The car' trajectory reference is chosen based on a double lane change maneuver (which respect to the ISOO:3888-1:1999(F) norm). Simulations are performed using the 3D graphical design software Vrealm Builder /Matlab/ simulink software.