The cross-coupling of lateral-longitudinal vehicle dynamics: Towards decentralized Fault-Tolerant Control Schemes

Diana Hernandez-Alcantara, Luis Amezquita-Brooks, Ruben Morales-Menendez, Olivier Sename, Luc Dugard

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

© 2017 Elsevier Ltd In recent years there has been an increasing interest in improving vehicle characteristics through the use of Vehicle Control Systems (VCS). In particular, VCS for the lateral (steering) and longitudinal (velocity) dynamics are used to improve the handling properties of a vehicle. Nonetheless, the introduction of the additional elements required for implementing these control systems also increases the possibility of faults. This problem can be mitigated by using Fault Tolerant Control (FTC) systems. The most common approach for steering FTC design is based on the use of a linear Bicycle Model (BM). Using this model decentralized steering controllers can be designed. However, the BM lacks significant lateral and longitudinal cross-coupling dynamics. In fact, the steering and velocity control problem could be viewed as a multivariable cross-coupled problem. In this article VCS for the steering and velocity are designed. The resulting controllers are decentralized and capable of practically eliminating the cross-coupling. A further problem, which has not been widely reported, is the propagation of the failure of one subsystem to other subsystems. It is shown that when the Velocity Control System (VelCS) fails, then the steering subsystem has a degraded performance due to cross-coupling. The main contribution of this article consists in showing that it is possible to detect and accommodate a failure of the VelCS within the steering control system, i.e. without requiring communication among subsystems. This enables a fully independent operation even if faults occur, that is a Decentralized Fault-Tolerant Control Scheme.
Original languageEnglish
Pages (from-to)377-393
Number of pages17
JournalMechatronics
DOIs
Publication statusPublished - 1 Apr 2018
Externally publishedYes

Fingerprint

Control systems
Velocity control
Bicycles
Controllers
Communication

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Hernandez-Alcantara, Diana ; Amezquita-Brooks, Luis ; Morales-Menendez, Ruben ; Sename, Olivier ; Dugard, Luc. / The cross-coupling of lateral-longitudinal vehicle dynamics: Towards decentralized Fault-Tolerant Control Schemes. In: Mechatronics. 2018 ; pp. 377-393.
@article{a424a1e30e6e4752b68e1ee5538cb66d,
title = "The cross-coupling of lateral-longitudinal vehicle dynamics: Towards decentralized Fault-Tolerant Control Schemes",
abstract = "{\circledC} 2017 Elsevier Ltd In recent years there has been an increasing interest in improving vehicle characteristics through the use of Vehicle Control Systems (VCS). In particular, VCS for the lateral (steering) and longitudinal (velocity) dynamics are used to improve the handling properties of a vehicle. Nonetheless, the introduction of the additional elements required for implementing these control systems also increases the possibility of faults. This problem can be mitigated by using Fault Tolerant Control (FTC) systems. The most common approach for steering FTC design is based on the use of a linear Bicycle Model (BM). Using this model decentralized steering controllers can be designed. However, the BM lacks significant lateral and longitudinal cross-coupling dynamics. In fact, the steering and velocity control problem could be viewed as a multivariable cross-coupled problem. In this article VCS for the steering and velocity are designed. The resulting controllers are decentralized and capable of practically eliminating the cross-coupling. A further problem, which has not been widely reported, is the propagation of the failure of one subsystem to other subsystems. It is shown that when the Velocity Control System (VelCS) fails, then the steering subsystem has a degraded performance due to cross-coupling. The main contribution of this article consists in showing that it is possible to detect and accommodate a failure of the VelCS within the steering control system, i.e. without requiring communication among subsystems. This enables a fully independent operation even if faults occur, that is a Decentralized Fault-Tolerant Control Scheme.",
author = "Diana Hernandez-Alcantara and Luis Amezquita-Brooks and Ruben Morales-Menendez and Olivier Sename and Luc Dugard",
year = "2018",
month = "4",
day = "1",
doi = "10.1016/j.mechatronics.2017.07.001",
language = "English",
pages = "377--393",
journal = "Mechatronics",
issn = "0957-4158",
publisher = "Elsevier Limited",

}

The cross-coupling of lateral-longitudinal vehicle dynamics: Towards decentralized Fault-Tolerant Control Schemes. / Hernandez-Alcantara, Diana; Amezquita-Brooks, Luis; Morales-Menendez, Ruben; Sename, Olivier; Dugard, Luc.

In: Mechatronics, 01.04.2018, p. 377-393.

Research output: Contribution to journalArticle

TY - JOUR

T1 - The cross-coupling of lateral-longitudinal vehicle dynamics: Towards decentralized Fault-Tolerant Control Schemes

AU - Hernandez-Alcantara, Diana

AU - Amezquita-Brooks, Luis

AU - Morales-Menendez, Ruben

AU - Sename, Olivier

AU - Dugard, Luc

PY - 2018/4/1

Y1 - 2018/4/1

N2 - © 2017 Elsevier Ltd In recent years there has been an increasing interest in improving vehicle characteristics through the use of Vehicle Control Systems (VCS). In particular, VCS for the lateral (steering) and longitudinal (velocity) dynamics are used to improve the handling properties of a vehicle. Nonetheless, the introduction of the additional elements required for implementing these control systems also increases the possibility of faults. This problem can be mitigated by using Fault Tolerant Control (FTC) systems. The most common approach for steering FTC design is based on the use of a linear Bicycle Model (BM). Using this model decentralized steering controllers can be designed. However, the BM lacks significant lateral and longitudinal cross-coupling dynamics. In fact, the steering and velocity control problem could be viewed as a multivariable cross-coupled problem. In this article VCS for the steering and velocity are designed. The resulting controllers are decentralized and capable of practically eliminating the cross-coupling. A further problem, which has not been widely reported, is the propagation of the failure of one subsystem to other subsystems. It is shown that when the Velocity Control System (VelCS) fails, then the steering subsystem has a degraded performance due to cross-coupling. The main contribution of this article consists in showing that it is possible to detect and accommodate a failure of the VelCS within the steering control system, i.e. without requiring communication among subsystems. This enables a fully independent operation even if faults occur, that is a Decentralized Fault-Tolerant Control Scheme.

AB - © 2017 Elsevier Ltd In recent years there has been an increasing interest in improving vehicle characteristics through the use of Vehicle Control Systems (VCS). In particular, VCS for the lateral (steering) and longitudinal (velocity) dynamics are used to improve the handling properties of a vehicle. Nonetheless, the introduction of the additional elements required for implementing these control systems also increases the possibility of faults. This problem can be mitigated by using Fault Tolerant Control (FTC) systems. The most common approach for steering FTC design is based on the use of a linear Bicycle Model (BM). Using this model decentralized steering controllers can be designed. However, the BM lacks significant lateral and longitudinal cross-coupling dynamics. In fact, the steering and velocity control problem could be viewed as a multivariable cross-coupled problem. In this article VCS for the steering and velocity are designed. The resulting controllers are decentralized and capable of practically eliminating the cross-coupling. A further problem, which has not been widely reported, is the propagation of the failure of one subsystem to other subsystems. It is shown that when the Velocity Control System (VelCS) fails, then the steering subsystem has a degraded performance due to cross-coupling. The main contribution of this article consists in showing that it is possible to detect and accommodate a failure of the VelCS within the steering control system, i.e. without requiring communication among subsystems. This enables a fully independent operation even if faults occur, that is a Decentralized Fault-Tolerant Control Scheme.

U2 - 10.1016/j.mechatronics.2017.07.001

DO - 10.1016/j.mechatronics.2017.07.001

M3 - Article

SP - 377

EP - 393

JO - Mechatronics

JF - Mechatronics

SN - 0957-4158

ER -