Design of Fault-Tolerant Control for Trajectory Tracking

International audienceThe paper proposes a fault-tolerant integrated control system with the brake and the steering for developing a driver assistance system. The purpose is to design a fault-tolerant control which is able to guarantee the trajectory tracking and lateral stability of the vehicle against actuator fault scenarios. Since both actuators affect the lateral dynamics of the vehicle, in the control design a balance and priority between them must be achieved. The method is extended with a fault-tolerant feature based on a robust LPV method, into which the detected fault information are incorporated. The control design is performed by using the Matlab/Simulink software and the verification of the designed controller is performed by using the CarSim software

Synthesis, photoelectron spectroscopy and quantum chemical study of kinetically unstabilized phosphines complexed by borane

International audienc

Robust suspension fault detection

International audienceThe work presented in this paper focuses on robust fault detection for suspension system. Most of suspension system - classical, active or semi active ones - contains non linear parameters within their reference model such as dampers or springs. The approach taken relies in developing fault indicator for such system. The non-linear model is rewritten as an LPV one, where the scheduling parameters are linked with the non-linear parameters. Then fault indicators are synthesized for the discrete-time LPV model based on the extended parity-space approach. Validation of the approach is performed with CarSim