Scholarlink

<p>A robust observer-based fault-tolerant shared control (FTSC) strategy is proposed for highly automated vehicles equipped with Steer-by-Wire (SbW) systems, enabling effective cooperative driving between the driver and the Lane Keeping Assist System (LKAS) in the presence of steering actuator faults. The main contribution of this work lies in the development of a novel co-design framework integrating robust adaptive estimation of system states and actuator faults, combined with an adaptive control law designed to ensure system stability and preserve lane-keeping performance. The proposed framework integrates a linear parameter varying (LPV) observer, capable of estimating vehicle states and unknown actuator faults despite unmeasurable real-time variations in longitudinal and lateral velocities. Based on this, a robust adaptive shared controller with state feedback is designed using the Takagi–Sugeno (T–S) approach to provide active fault-tolerant control capabilities. To guarantee system stability and the asymptotic convergence of both state and fault estimation errors, the control design is formulated as an optimization problem involving linear matrix inequalities (LMIs). A Lyapunov-based stability analysis is used to introduce relaxation conditions and enhance robustness against immeasurable nonlinearities. The proposed FTSC approach is validated through a Human-In-the-Loop (HIL) configuration using the SHERPA dynamic driving simulator, demonstrating its effectiveness in real-world driving scenarios.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Fault Tolerant Shared Control for Cooperative Lane-Keeping Systems of Highly Automated Steer-by-Wire Vehicle

  • 期刊论文

  • 发表日期：

    2025年10月3日

查看全文
  • Mohammed Boudaoud,
  • Chouki Sentouh,
  • Cindy Cappelle,
  • Maan El Badaoui El Najjar,
  • Jean-Christophe Popieul

摘要

A robust observer-based fault-tolerant shared control (FTSC) strategy is proposed for highly automated vehicles equipped with Steer-by-Wire (SbW) systems, enabling effective cooperative driving between the driver and the Lane Keeping Assist System (LKAS) in the presence of steering actuator faults. The main contribution of this work lies in the development of a novel co-design framework integrating robust adaptive estimation of system states and actuator faults, combined with an adaptive control law designed to ensure system stability and preserve lane-keeping performance. The proposed framework integrates a linear parameter varying (LPV) observer, capable of estimating vehicle states and unknown actuator faults despite unmeasurable real-time variations in longitudinal and lateral velocities. Based on this, a robust adaptive shared controller with state feedback is designed using the Takagi–Sugeno (T–S) approach to provide active fault-tolerant control capabilities. To guarantee system stability and the asymptotic convergence of both state and fault estimation errors, the control design is formulated as an optimization problem involving linear matrix inequalities (LMIs). A Lyapunov-based stability analysis is used to introduce relaxation conditions and enhance robustness against immeasurable nonlinearities. The proposed FTSC approach is validated through a Human-In-the-Loop (HIL) configuration using the SHERPA dynamic driving simulator, demonstrating its effectiveness in real-world driving scenarios.