LPV methods for fault-tolerant vehicle dynamic control

Abstract

This paper aims at presenting the interest of the Linear Parameter Varying (LPV) methods for vehicle dynamics control, in particular when some actuators may be in failure. The cases of the semi-active suspension control problem and the yaw control using braking, steering and suspension actuators will be presented. In the first part, we will consider the semi-active suspension control problem, where some sensors or actuator (damper leakage) faults are considered. From a quarter-car vehicle model including a non linear semi-active damper model, an LPV model will be described, accounting for some actuator fault represented as some varying parameters. A single LPV fault-tolerant control approach is then developed to manage the system performances and constraints. In the second part the synthesis of a robust gain-scheduled H = vehicle dynamic stability controller, involving front steering, rear braking, and four active suspension actuators, is proposed to improve the yaw stability and lateral performances. An original LPV method for actuator coordination is proposed, when the actuator limitations and eventually failures, are taken into account. Some simulations on a complex full vehicle model (which has been validated on a real car), subject to critical driving situations (in particular a loss of some actuator), show the efficiency and robustness of the proposed solution.