H∞ controller for vehicle lateral control under fault in front or rear sensors

This paper presents the design of lateral controllers for automated vehicles under specific sensor fault. The specific fault refers to the failure of one of the two sets of sensors on-board the vehicle which are critical to vehicle lateral control. The aim of the controller design is to accomplish sound performance with the remaining set of sensors. The current vehicle lateral controller, which works with the two sets of sensors, is examined and its ineffectiveness under sensor failures is described. Controllers with one set of sensors are designed using the H_∞ optimal control theory. Two controllers are derived, each using one set of the two sets of sensors. Simulation results are presented to demonstrate the effectiveness of the controllers