Design of Fault-Tolerant Control for Trajectory Tracking

Abstract

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