A New Observer-Based Fault Tolerant Shared Control for SbW Systems with Actuator Fault for Driver Assistance

Mohammed Boudaoud, Mohammed Boudaoud, Chouki Sentouh, Chouki Sentouh, Cindy Cappelle, Maan El Najjar, Jean-Christophe Popieul, Jean-Christophe Popieul

2024

Abstract

This paper addresses the problem of fault tolerant shared control (FTSC) of Steer-by-Wire (SbW) systems with actuator fault for driver lane keeping assistance system. The main contribution of this work is to propose a novel co-design of a robust adaptive simultaneous estimation of system state and actuator faults associated with an adaptive control law for the stability purposes and also to ensure lane keeping performance even in faulty situations by limiting the influence of actuator faults on the vehicle trajectory. An LPV observer architecture is proposed to estimate the vehicle state and unknown actuator faults considering real-time unmeasurable variations in longitudinal and lateral velocities, represented within a polytope with finite vertices. Subsequently, a robust and adaptive state feedback active fault-tolerant controller is proposed using the Takagi-Sugeno (T-S) approach. An optimization problem is formulated in terms of linear matrix inequalities (LMI) to guarantee system stability and the asymptotic convergence of state and fault estimation errors. Lyapunov stability arguments are used to allow more relaxation and additional robustness against immeasurable nonlinearities. Hardware validation carried out with the SHERPA dynamic car simulator in real driving situations demonstrated the performance and the effectiveness of the proposed FTSC scheme.

Paper Citation

in Harvard Style

Boudaoud M., Sentouh C., Cappelle C., El Najjar M. and Popieul J. (2024). A New Observer-Based Fault Tolerant Shared Control for SbW Systems with Actuator Fault for Driver Assistance. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 189-197. DOI: 10.5220/0013069800003822

in Bibtex Style

@conference{icinco24,
author={Mohammed Boudaoud and Chouki Sentouh and Cindy Cappelle and Maan El Najjar and Jean-Christophe Popieul},
title={A New Observer-Based Fault Tolerant Shared Control for SbW Systems with Actuator Fault for Driver Assistance},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={189-197},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013069800003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - A New Observer-Based Fault Tolerant Shared Control for SbW Systems with Actuator Fault for Driver Assistance
SN - 978-989-758-717-7
AU - Boudaoud M.
AU - Sentouh C.
AU - Cappelle C.
AU - El Najjar M.
AU - Popieul J.
PY - 2024
SP - 189
EP - 197
DO - 10.5220/0013069800003822
PB - SciTePress