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http://dx.doi.org/10.22680/kasa2020.12.4.013

Development of an Adaptive Feedback based Actuator Fault Detection and Tolerant Control Algorithms for Longitudinal Autonomous Driving  

Oh, Kwangseok (한경대학교 기계공학과)
Lee, Jongmin (서울대학교 기계항공공학부)
Song, Taejun (한경대학교 기계공학과)
Oh, Sechan (한경대학교 기계공학과)
Yi, Kyongsu (서울대학교 기계항공공학부)
Publication Information
Journal of Auto-vehicle Safety Association / v.12, no.4, 2020 , pp. 13-22 More about this Journal
Abstract
This paper presents an adaptive feedback based actuator fault detection and tolerant control algorithms for longitudinal functional safety of autonomous driving. In order to ensure the functional safety of autonomous vehicles, fault detection and tolerant control algorithms are needed for sensors and actuators used for autonomous driving. In this study, adaptive feedback control algorithm to compute the longitudinal acceleration for autonomous driving has been developed based on relationship function using states. The relationship function has been designed using feedback gains and error states for adaptation rule design. The coefficients in the relationship function have been estimated using recursive least square with multiple forgetting factors. The MIT rule has been adopted to design the adaptation rule for feedback gains online. The stability analysis has been conducted based on Lyapunov direct method. The longitudinal acceleration computed by adaptive control algorithm has been compared to the actual acceleration for fault detection of actuators used for longitudinal autonomous driving.
Keywords
Feedback control; Autonomous driving; Fault detection; Fault tolerant control; Recursive least squares;
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