LPV design of reconfigurable and integrated control for road vehicles

The aim of the paper is to present a distributed supervisory architecture for the design and development of reconfigurable and integrated control systems in road vehicles. The performance specifications are guaranteed by the local controllers, while the coordination of these components is provided by the supervisor. Monitoring components provide the supervisor with information needed to make decisions about the necessary interventions into the vehicle motion and guarantee the robust operation of the vehicle. In the proposed architecture the supervisor and the components communicate through a well-defined interface. This interface uses the monitoring signals as additional scheduling variables of the individual LPV (Linear Parameter Varying) controllers introduced to distinguish the performances that correspond to different operational modes. The advantage of this architecture is that local LPV controllers are designed independently provided that the monitoring signals are taken into consideration in the formalization of their performance specifications.