Tolerant control for an autonomous vehicle subject to faulty steering system

Alain Haddad 1, * Abdel Aitouche 2 Vincent Cocquempot 2 A. Glumineau 3
* Auteur correspondant
1 LAGIS - Laboratoire d'Automatique, Génie Informatique et Signal
2 STF - Systèmes Tolérants aux Fautes
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
3 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
Abstract : 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.
Type de document :
Communication dans un congrès
Liste complète des métadonnées
https://hal.archives-ouvertes.fr/hal-00630724
Contributeur : Alain Glumineau <>
Soumis le : lundi 10 octobre 2011 - 17:52:36
Dernière modification le : samedi 23 mars 2019 - 01:25:10

Identifiants

  • HAL Id : hal-00630724, version 1

Collections

CNRS | EC-NANTES | IRCCYN | UNIV-NANTES | LAGIS | UNAM | TDS-MACS | CRISTAL | UNIV-LILLE

Citation

Alain Haddad, Abdel Aitouche, Vincent Cocquempot, A. Glumineau. Tolerant control for an autonomous vehicle subject to faulty steering system. IEEE-2011 International Conference on Communications, Computing and Control Applications (CCCA'11),, Mar 2011, Hammamet, Tunisia. Paper 229. ⟨hal-00630724⟩

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

672

Contact

CCSD