Robust path following control for autonomous vehicle considering actuator fault

Abstract

The development of drive-by-wire chassis technology increases the flexibility of vehicle dynamic control. However, more actuators have higher potential failure risk and lead model mismatch, which brings a severe challenge for the control precision and system robustness. Regarding to the potential failure risk of the steering actuator, this research presents a feedback gain scheduling H∞ controller for autonomous vehicle path tracking. Firstly, the linear parameter-varying (LPV) model is established considering the speed variation and potential actuator fault. Then the state feedback control algorithm is proposed to maintain the tracking performance and system robustness. The control gain matrix is optimized via linear matrix inequation (LMI). Finally, the closed loop system is proved to be asymptotic stable by Lyapunov function and the simulation results demonstrate that the proposed controller has satisfactory tracking performance under unpredictable actuator fault degree, which provides good robustness and better reliability for autonomous vehicle in complex conditions.

Research on Path Tracking Fault-Tolerant Control Strategy for Intelligent Commercial Vehicles Based on Brake Actuator Failure

“…Fault-tolerant control currently has two development directions: active fault-tolerant control and passive fault-tolerant control [10,11]. In the field of vehicle fault-tolerant control, scholars have proposed a variety of active and passive fault-tolerant control strategies, including sliding mode control [12,13], adaptive control [14][15][16], fuzzy neural network control [17,18], and robust H∞ and LPV control [19][20][21][22]. Passive fault-tolerant control is advantageous over active fault-tolerant control because it does not require fault detection and isolation units.…”

“…For damper faults as well as brake actuator faults, the three systems of steering, braking, and suspension are activated hierarchically and coordinated with each other by scheduling different parameters under the framework of the LPV system so as to improve vehicle comfort and stability [20]. For steering actuator faults, an LPV model for actuator faults containing velocity changes is developed, and the tracking and robust performance of the system is ensured by a robust control algorithm [21]. A fault-tolerant predictive controller is proposed for active suspension system sensor faults.…”