Fault tolerant lateral control of automated vehicles based on simultaneous stabilization
Fault tolerant lateral control of automated vehicles based on simultaneous stabilization
- Neue Suche nach: Suryanarayanan, S.
- Neue Suche nach: Tomizuka, M.
- Neue Suche nach: Suzuki, T.
- Neue Suche nach: Suryanarayanan, S.
- Neue Suche nach: Tomizuka, M.
- Neue Suche nach: Suzuki, T.
The design of a fault tolerant controller for lateral control of automated vehicles based on simultaneous stabilization is described. The scenario of loss of information from either one of two sensors critical to the lane-keeping operation of the vehicle is considered. Then, the problem of simultaneously stabilizing both the non-faulty and faulty plants is analyzed. The class of simultaneously stabilizing controllers is introduced and the condition for simultaneous stability is formulated as an LMI (Liner Matrix Inequality) constraint for a particular chosen representation of the system which lends it if naturally to the design of the fault tolerant controller. Simulation results illustrating satisfactory performance are included.
Dokumentinformationen
Fault tolerant lateral control of automated vehicles based on simultaneous stabilization
Fehlertolerante Seitenlageregelung von automatischen Fahrzeugen mit Hilfe der gleichzeitgen Stabilisierung
2000
6 Seiten, 7 Bilder, 12 Quellen
Aufsatz (Konferenz)
Englisch
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