This paper presents an integrated structure for a passive and active fault tolerant control (FTC) design approach in the framework of a robust nonlinear control technique called Dynamic Surface Control (DSC). As motivated by the automated vehicle application, we consider two categories of possible faults: pre-specified (a priori) and non-specified faults. It is first shown that DSC can be considered as a passive FTC approach in the sense that it gives simultaneous robust stability to a set of nonlinear systems even in the presence of model uncertainties and the pre-specified faults. Then, the non-specified fault is classified depending on the fault’s impact on the closed-loop system and isolatability from a fault detection and diagnosis (FDD) system. If a fault is both intolerable and isolatable, an active FTC approach is taken which includes FDD and controller reconfiguration. More specifically, trajectory reconfiguration is considered to accommodate the actuator fault, i.e., to compensate for the performance loss due to the fault within the framework of a switched hierarchical structure. Finally, the integrated structure for the longitudinal control of an automated transit bus is designed through the proposed method. Simulation results of the fault tolerant controller are shown for both single and multiple multiplicative faults. This controller was implemented on the California PATH transit buses in a demonstration of automated public transportation technology in San Diego, California in August of 2003.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Fault tolerant nonlinear control with applications to an automated transit bus


    Contributors:
    Song, B. (author) / Hedrick, J. K. (author)

    Published in:

    Vehicle System Dynamics ; 43 , 5 ; 331-350


    Publication date :

    2005-05-01


    Size :

    20 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown





    Fault tolerant nonlinear control with applications to an automated transit bus

    Song,B. / Hendrick,J.K. / Ajou Univ.,KR et al. | Automotive engineering | 2005


    Nonlinear Fault Tolerant Control of Nonlinear Structure with MR Dampers

    Li, L.Y. / Song, G.B. / Ou, J.P. et al. | British Library Conference Proceedings | 2010



    Nonlinear MPC for Quadrotor Fault-Tolerant Control

    Nan, Fang / Sun, Sihao / Foehn, Philipp et al. | BASE | 2022

    Free access