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In this paper, the problems of state and fault estimation are addressed for a class of switched descriptor systems subject to Lipschitz nonlinearities and unknown inputs (UI). The UI appear both on the dynamic and on the measurement equations. Two problems are addressed by L2-gain minimization with the use of switched Lyapunov functions and formulated by LMI. First, a functional observer for switched...
This paper presents a new methodology for the detection of critical situations for vehicle lateral dynamics, in order to improve the ESP systems. The principle of the approach rests on the modeling of the vehicle thanks to a bicycle model. The lateral tire forces are well known to be highly non-linear. However, in normal driving region, those force can be approximated as linear. The detection of the...
The objective of this paper is to design a new integrated methodology for the detection of a critical situation in vehicle longitudinal dynamics. In classical modern vehicle, the ABS - anti-lock braking system - (during bracking) and anti-skid (during accelerations) modules are acting separately. This paper presents an innovative methodology for the detection of longitudinal critical situations that...
This paper focuses on robust fault residual generation for Uncertain Unknown Inputs Linear Parameter Varying (U-LPV) systems. Firstly, the problem is addressed in standard LPV systems based on the adaptation of the parity-space approach. The main objective of this approach is to design a scheduled parity matrix according to the scheduling parameters. It results a perfectly decoupled parity matrix...
A novel fault tolerant strategy to compensate multiplicative actuator faults (damper oil leakages) in a semi-active suspension system is proposed. The compensation of the lack of damping force caused by a faulty damper is carried on by the remainder three healthy semi-active dampers. Once a faulty damper is detected and isolated by a Fault Detection and Isolation strategy based on parity-space, an...
A novel Fault-Tolerant Controller is proposed for an automotive suspension system based on a Quarter of Vehicle (QoV) model. The design is divided in a robust Linear Parameter-Varying controller used to isolate vibrations from external disturbances and in a compensation mechanism used to accommodate actuator faults. The compensation mechanism is based on a robust fault detection and estimation scheme...
The design of chassis for a truck considers a wide set of conditions in which load and unload are the most typical variety. For years, flat ride rules have been applied to achieve comfort, by providing tuning rules in the suspension as today. For an electric vehicle however, the weight distribution is different as a result of power train and batteries. A suspension control strategy is proposed in...
This paper presents applicative results about fault detection and control for semi-active suspension system. The control is extended from the “Acceleration Driven Damping” (ADD) controller combined with a robust fault detection scheme in order to estimate the fault. The approach, based on a quarter of vehicle model includes the nonlinearities of the shock absorber. The robust fault estimation module...
This paper investigates the problem of fault detection and isolation (FDI) for vehicle lateral dynamics. The system under consideration is a Linear Parameter Varying (LPV) model, where the scheduling parameter is related to the vehicle speed. The heart of the proposed approach relies in synthesizing robust residuals for some specified working speed. The robustness guaranties the validity between each...
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