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Sensors 2018, 18(6), 1893; https://doi.org/10.3390/s18061893

Proprioceptive Sensors’ Fault Tolerant Control Strategy for an Autonomous Vehicle

1
Institut VEDECOM, 77 Rue des Chantiers, Versailles 78000, France
2
ESTACA, 12 Rue Paul Delouvrier, Montigny-le-Bretonneux 78180, France
3
Centre for Accident Research and Road Safety (CARRS-Q), Queensland University of Technology (QUT), Brisbane City, QLD 4000, Australia
*
Author to whom correspondence should be addressed.
Received: 3 May 2018 / Revised: 7 June 2018 / Accepted: 8 June 2018 / Published: 9 June 2018
(This article belongs to the Special Issue Sensors for Fault Detection)
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Abstract

In this contribution, a fault-tolerant control strategy for the longitudinal dynamics of an autonomous vehicle is presented. The aim is to be able to detect potential failures of the vehicle’s speed sensor and then to keep the vehicle in a safe state. For this purpose, the separation principle, composed of a static output feedback controller and fault estimation observers, is designed. Indeed, two observer techniques were proposed: the proportional and integral observer and the descriptor observer. The effectiveness of the proposed scheme is validated by means of the experimental demonstrator of the VEDECOM (Véhicle Décarboné et Communinicant) Institut. View Full-Text
Keywords: sensor fault; fault tolerant control; autonomous vehicle; separation principle; Lipschitz model; LMI approach sensor fault; fault tolerant control; autonomous vehicle; separation principle; Lipschitz model; LMI approach
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Boukhari, M.R.; Chaibet, A.; Boukhnifer, M.; Glaser, S. Proprioceptive Sensors’ Fault Tolerant Control Strategy for an Autonomous Vehicle. Sensors 2018, 18, 1893.

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