Multi-sensor longitudinal control with fault tolerant guarantees

This paper deals with the problem of obtaining fault-tolerant guarantees of a multi-sensor switching strategy for longitudinal control. The strategy selects, at each instant of time, the sensor (belonging to a collection of sensors) that provides the best closed loop performance, as measured by a control-performance criterion. It is assumed that each sensor has an associated feedback controller that has been designed such that the sensor-controller pair stabilises the closed loop system under normal operation conditions. Recent refinements for constructing ultimate-bound invariant sets allow obtaining less conservative fault-tolerant guarantees. Stability of the switching system under fault-free operation conditions and under presence of sensor failures are established in the main results of this paper.