The cross-coupling of lateral-longitudinal vehicle dynamics: Towards decentralized Fault-Tolerant Control Schemes. (April 2018)

• Record Type: Journal Article
• Authors: Hernandez-Alcantara, Diana; Amezquita-Brooks, Luis; Morales-Menendez, Ruben; Sename, Olivier; Dugard, Luc
• Is Part Of: Mechatronics. Volume 50(2018)
• Page Start: 377
• Page End: 393
• Publication Date: 2018-04
• Subjects: Fault Tolerant Control -- Fault detection -- Vehicle dynamics -- Coupling dynamics; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2017.07.001
• Languages: English
• ISSNs: 0957-4158

Abstract

Abstract: In recent years there has been an increasing interest in improving vehicle characteristics through the use of Vehicle Control Systems ( VCS ). In particular, VCS for the lateral (steering) and longitudinal (velocity) dynamics are used to improve the handling properties of a vehicle. Nonetheless, the introduction of the additional elements required for implementing these control systems also increases the possibility of faults. This problem can be mitigated by using Fault Tolerant Control ( FTC ) systems. The most common approach for steering FTC design is based on the use of a linear Bicycle Model ( BM ). Using this model decentralized steering controllers can be designed. However, the BM lacks significant lateral and longitudinal cross-coupling dynamics. In fact, the steering and velocity control problem could be viewed as a multivariable cross-coupled problem. In this article VCS for the steering and velocity are designed. The resulting controllers are decentralized and capable of practically eliminating the cross-coupling. A further problem, which has not been widely reported, is the propagation of the failure of one subsystem to other subsystems. It is shown that when the Velocity Control System ( VelCS ) fails, then the steering subsystem has a degraded performance due to cross-coupling. The main contribution of this article consists in showing that it is possible to detect and accommodate a failure of the VelCS within the steering control system, i.e. without requiring communication among subsystems. This enables a fully independent operation even if faults occur, that is a Decentralized Fault-Tolerant Control Scheme .