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Proprioceptive Sensors' Fault Tolerant Control Strategy for an Autonomous Vehicle.

Mohamed Riad Boukhari^1,2, Ahmed Chaibet³, Moussa Boukhnifer⁴

¹Institut VEDECOM, 77 Rue des Chantiers, Versailles 78000, France. ryad.boukhari@vedecom.fr.

Sensors (Basel, Switzerland)

|June 13, 2018

Summary

This study introduces a fault-tolerant control strategy to detect speed sensor failures in autonomous vehicles. The system ensures vehicle safety by maintaining control even after detecting potential faults.

Keywords:

LMI approach Lipschitz model autonomous vehicle fault tolerant control sensor fault separation principle

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Area of Science:

Control Systems Engineering
Automotive Engineering
Robotics

Background:

Autonomous vehicles rely on accurate sensor data for safe operation.
Speed sensor failures can compromise vehicle control and safety.
Existing control strategies may lack robustness against sensor malfunctions.

Purpose of the Study:

To develop a fault-tolerant control strategy for autonomous vehicle longitudinal dynamics.
To enable detection of speed sensor failures.
To maintain vehicle safety and stability post-fault detection.

Main Methods:

Design of a fault-tolerant control strategy based on the separation principle.
Implementation of a static output feedback controller.
Development of two fault estimation observers: proportional-integral and descriptor observers.
Validation using an experimental demonstrator at VEDECOM Institute.

Main Results:

Successful detection of simulated speed sensor failures.
Demonstrated ability of the control strategy to maintain vehicle stability.
Validation of both proportional-integral and descriptor observer techniques.

Conclusions:

The proposed fault-tolerant control strategy effectively addresses speed sensor failures in autonomous vehicles.
The separation principle, combined with observer-based fault estimation, ensures safe vehicle operation.
Experimental validation confirms the robustness and practical applicability of the developed system.