Abstract
In this chapter all the results of the previous chapters are generalized to include system failures as well as model uncertainties. It is shown the DSC is a passive fault tolerant approach in that it gives robust stability and tracking in the presence of model uncertainties and specific classes of faults. Then, based on the amount of performance loss measured by a quadratic Lyapunov function and information from a fault detection and diagnosis (FDD) system, a fault classification system is developed. The technique is illustrated in the example of vehicle longitudinal controlled designed for an automated highway system (AHS).
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Song, B., Hedrick, J.K. (2011). Automated Vehicle Control. In: Dynamic Surface Control of Uncertain Nonlinear Systems. Communications and Control Engineering. Springer, London. https://doi.org/10.1007/978-0-85729-632-0_7
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DOI: https://doi.org/10.1007/978-0-85729-632-0_7
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