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Fault-tolerant control and its application to lane-keeping control of automated vehicles.

机译：容错控制及其在自动车辆车道保持控制中的应用。

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In this dissertation, we develop procedures for the design of real-time control systems that are insensitive to failures i.e., fault tolerant control systems. These procedures are then applied to lane-keeping control of automated vehicles on Automated Highway Systems (AHS). Our focus is on accommodating failures which have an immediate effect on the stability of the system under consideration. We consider two situations related to the design of failure tolerant controllers.; First, we formulate the design of failure tolerant controllers as a simultaneous stability problem which reads as follows: Given linear time-invariant (LTI) systems P0, P1, &cdots; ,Pn, design a controller C (also LTI) such that each of the feedback inter connections (P i,C), i = 0, 1, 2, &cdots; ,n is internally stable. We deal with two problems related to the design of simultaneously stabilizing controllers. The first problem deals with the design of a simultaneously stabilizing controller that stabilizes two LTI systems. A new procedure is developed which uses a sufficient condition for simultaneous stability to reduce this problem to a standard H∞ control problem. Results indicate that for certain plants this procedure results in a controller of significantly lesser order than the classical interpolation based methodology. The second problem deals with the simultaneous stability problem with an added performance criterion. In this case, we express a sufficient condition for simultaneous stability as a Linear Matrix Inequality (LMI). This condition is then used to obtain, once again, to a standard H∞ control problem. The highlight of this procedure is that it applies to the case of simultaneous stability of three or more plants. However, both procedures introduced above suffer from the limitation of being conservative. This is because they are both based on only sufficient conditions for simultaneous stability.; Next, we consider the problem of accommodating a specific type of failure in one of two sensors used for controlling a two-output system. The failure model considered here is that in the event of a failure in a sensor, the associated output goes to a constant value. A heuristic control architecture utilizing dedicated observers is proposed to solve this problem. It is argued that the limitation of the dedicated observer based scheme is its heavy dependence on the model used to describe the system.; The strategies developed above are tested on a safety-critical control system namely, the lane-keeping control system of fully-automated test vehicles used by the Partners for Advanced Transit on Highways (PATH), California in the development of an AHS. The lane-keeping control system is responsible for ensuring that vehicles maintain their lanes. This dissertation addresses the accommodation of hard failures in two lateral error measuring sensors which act as the primary sensory components of the lane-keeping control system. High and low-speed experimental results demonstrating failure tolerant control action are documented.
机译：在本文中，我们开发了对故障不敏感的实时控制系统的设计程序，即容错控制系统。然后，将这些程序应用于自动公路系统（AHS）上的自动车辆的车道保持控制。我们的重点是解决对正在考虑的系统的稳定性有直接影响的故障。我们考虑与容错控制器设计有关的两种情况。首先，我们将容错控制器的设计公式表示为同时稳定性问题，其内容如下：给定线性时不变（LTI）系统 P 0 ， P 1 ， ＆cdots; ， P n ，设计一个控制器 C （也是LTI），这样每个反馈互连（ P i ，C ）， i = 0，1，2， ＆cdots; ， n 是内部稳定的。我们处理与同时稳定控制器设计有关的两个问题。第一个问题涉及稳定两个LTI系统的同时稳定控制器的设计。开发了一种新程序，该程序使用充分条件同时稳定，从而将该问题简化为标准 H ∞ < / f> 控制问题。结果表明，对于某些工厂，此程序所产生的控制器的顺序明显少于基于经典插值的方法。第二个问题是使用同时增加的性能标准来处理同时稳定性问题。在这种情况下，我们表示出同时稳定的充分条件，即线性矩阵不等式（LMI）。然后，使用该条件再次获得标准 H ∞ 控制问题。此过程的重点是，它适用于三个或三个以上植物同时稳定的情况。但是，以上介绍的两个过程都存在保守的局限性。这是因为它们都是基于 only 的同时稳定的充分条件。接下来，我们考虑在用于控制双输出系统的两个传感器之一中容纳特定类型的故障的问题。这里考虑的故障模型是，如果传感器发生故障，则相关的输出将变为恒定值。为了解决这个问题，提出了一种利用专用观察者的启发式控制架构。有人认为，基于专用观察者的方案的局限性在于它严重依赖于用来描述系统的模型。以上制定的策略在安全关键控制系统上进行了测试，即由加利福尼亚州公路高级运输合作伙伴（PATH）在开发AHS时使用的全自动测试车辆的车道保持控制系统。车道保持控制系统负责确保车辆保持其车道。本文研究了硬故障在两个横向误差测量传感器中的适应性，这两个误差测量传感器是车道保持控制系统的主要传感组件。证明了容错控制作用的高速和低速实验结果已记录在案。

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