Authors:
Mohammed Boudaoud
1
;
2
;
Chouki Sentouh
1
;
3
;
Cindy Cappelle
2
;
Maan El Najjar
2
and
Jean-Christophe Popieul
1
;
3
Affiliations:
1
LAMIH UMR CNRS 8201, Université Polytechnique Hauts-de-France, Valenciennes, France
;
2
Univ. Lille, CNRS, Centrale Lille, UMR 9189 CRIStAL, F-59000 Lille, France
;
3
INSA Hauts-de-France, Valenciennes, France
Keyword(s):
SbW System, Fault-Tolerant Control, Fault Estimation, Observer, Shared Control, Lane Keeping Systems, T-S Fuzzy Models, LPV System.
Abstract:
This paper addresses the problem of fault tolerant shared control (FTSC) of Steer-by-Wire (SbW) systems with actuator fault for driver lane keeping assistance system. The main contribution of this work is to propose a novel co-design of a robust adaptive simultaneous estimation of system state and actuator faults associated with an adaptive control law for the stability purposes and also to ensure lane keeping performance even in faulty situations by limiting the influence of actuator faults on the vehicle trajectory. An LPV observer architecture is proposed to estimate the vehicle state and unknown actuator faults considering real-time unmeasurable variations in longitudinal and lateral velocities, represented within a polytope with finite vertices. Subsequently, a robust and adaptive state feedback active fault-tolerant controller is proposed using the Takagi-Sugeno (T-S) approach. An optimization problem is formulated in terms of linear matrix inequalities (LMI) to guarantee syste
m stability and the asymptotic convergence of state and fault estimation errors. Lyapunov stability arguments are used to allow more relaxation and additional robustness against immeasurable nonlinearities. Hardware validation carried out with the SHERPA dynamic car simulator in real driving situations demonstrated the performance and the effectiveness of the proposed FTSC scheme.
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