Title :
Tolerant control for an autonomous vehicle subject to faulty steering system
Author :
Haddad, Ali ; Aitouche, A. ; Cocquempot, V. ; Glumineau, A.
Author_Institution :
Lab. LAGIS, CNRS, Lille, France
Abstract :
This paper deals with the design of an intelligent controller acting on each rear wheel velocity with the objective to ensure vehicle stability. It is shown that the vehicle trajectory may be controlled using each wheel independently, which increases the safety of the whole system. The control law is designed using a nonlinear car model. The car´s trajectory reference is chosen based on a double lane change maneuver (which respects the ISO:3888-1:1999(F) norm). Simulations are performed using the 3 D graphical design software Vrealm Builder 2.0 associated with Matlab/Simulink software.
Keywords :
control system synthesis; intelligent control; mechanical stability; mobile robots; nonlinear control systems; position control; solid modelling; steering systems; vehicle dynamics; wheels; 3 D graphical design software Vrealm Builder 2.0; Matlab software; Simulink software; autonomous vehicle; car trajectory reference; control law; double lane change maneuver; faulty steering system; intelligent controller; nonlinear car model; rear wheel velocity; tolerant control; vehicle stability; vehicle trajectory control; Acceleration; Computational modeling; Equations; Mathematical model; Trajectory; Vehicles; Wheels;
Conference_Titel :
Communications, Computing and Control Applications (CCCA), 2011 International Conference on
Conference_Location :
Hammamet
Print_ISBN :
978-1-4244-9795-9
DOI :
10.1109/CCCA.2011.6031514
