This paper presents vehicle lateral control under a specific sensor fault. The specific sensor fault refers to the failure of the front magnetometers, one of the two sets of sensors critical to vehicle lateral control. The aim of the controller design is to accomplish sound performance with the remaining set of sensors, i.e. the rear magnetometers. The difficulties of the controller design come from the nonminimum phase and time varying properties of the lateral dynamics of the vehicle with the output given by the rear magnetometers. In this paper, a control method utilizing feedback linearization and a mismatched observer is employed in the controller design. First, feedback linearization is applied to eliminate the time varying terms in the system. Then, a mismatched observer is designed using Hinfinite, optimization to provide the state estimates for the implementation of feedback linearization and to stabilize the overall system. Simulation results demonstrate the effectiveness of the controller.


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    Title :

    Vehicle lateral control under fault in front sensors: controller design with mismatched observers


    Additional title:

    Regelung der Fahrzeugseitenbewegung bei Ausfall der Frontsensoren: Reglerentwurf mit fehlangepaßten Beobachtern


    Contributors:
    Huang, J. (author) / Tomizuka, M. (author)


    Publication date :

    2003


    Size :

    6 Seiten, 10 Bilder, 11 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English






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