Fault-Tolerant Control for Lipschitz Nonlinear Systems: Vehicle Inter-Distance Control Application

Abstract : This paper is dedicated to the problem of fault tolerant control for Lipshitz nonlinear system. As longitudinal vehicle dynamic is nonlinear, it is greatest to deal with the nonlinearities in order to ensure stability and even reliability. A fault detection and estimation observer is designed in this work to achieve system performances in event of sensor faults. An active fault tolerant control based on state feedback with an integral action control scheme is designed in order to ensure the stability robustness under fault occurrence. Indeed both designed observers and controller gains are designed by solving the LMI problem in such a way that the system remains robustly insensitive to external disturbances and sensor fault. Simulation results are addressed to validate the effectivness of the porposed controller in different autonomous vehicle driving scenarios
Type de document :
Communication dans un congrès
The 20th World Congress of the International Federation of Automatic Control, 9-14 July 2017, Jul 2017, Toulouse, France
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https://hal.archives-ouvertes.fr/hal-01576634
Contributeur : Mohamed Riad Boukhari <>
Soumis le : mercredi 23 août 2017 - 16:05:18
Dernière modification le : jeudi 19 avril 2018 - 01:12:36

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  • HAL Id : hal-01576634, version 1

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Mohamed Riad Boukhari, Ahmed Chaibet, Moussa Boukhnifer, Sebastien Glaser. Fault-Tolerant Control for Lipschitz Nonlinear Systems: Vehicle Inter-Distance Control Application. The 20th World Congress of the International Federation of Automatic Control, 9-14 July 2017, Jul 2017, Toulouse, France. 〈hal-01576634〉

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