Fault Tolerant Design for Autonomous Vehicle
Résumé
A fault-tolerant control design strategy based upon
sliding mode control and a descriptor observer for Lipschitz
system is presented. The aim is to mitigate the vehicle speed faults
and provide accurate measurements for the control. Thus, the
additive faults affecting the vehicle speed sensor are estimated,
and accurate speed measurments are used to control the vehicle
speed instead of the faulty ones. Sufficient conditions and obsrever gain are designed by use of Lyapunov theory, satisfying L2-
gain norm and H1 criterions. These conditions are derived under
the well known Linear Matrix Inequality. The optimal designed
gains ensure robustness against disturbances and additive sensor
faults. A nonlinear longitudinal vehicle dynamic is considered to
demonstrate the performance of the proposed design to achieve
the spacing control task. Computer simulations are addressed to
validate the proposed controller in autonomous vehicle scenario.