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Design of simultaneously stabilizing controllers and its application to fault-tolerant lane-keeping controller design for automated vehicles

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Title Design of simultaneously stabilizing controllers and its application to fault-tolerant lane-keeping controller design for automated vehicles
 
Creator SURYANARAYANAN, S
TOMIZUKA, M
SUZUKI, T
 
Subject time-invariant plants
systems
automated highways
fault tolerance
h-infinity control
linear matrix inequality (lmi)
simultaneous stability
 
Description Simultaneous stabilization deals with the following question: given a finite number of LTI plants P-1, P-2, (.) (.) (.), P-k does there exist a single LTI controller C such that each of the feedback interconnections (P-i, C) (i = 1, 2, (. . .) , k) is internally stable? This paper presents a new methodology for the design of simultaneously stabilizing controllers for two or more plants that satisfy a sufficient condition. A classic result from simultaneous-stability theory is invoked to cast the sufficient condition as a linear matrix inequality (LMI). It is shown that in this setting, the problem of design of simultaneously stabilizing controllers can be reduced to that of a standard H-infinity control problem. The technique developed is applied to the design of a fault-tolerantcontroller for lane-keeping control of automated vehicles. The controller makes the system insensitive to a failure in either one of two lateral error measuring sensors used for lane-keeping control. Experimental results confirm the efficacy of the design and reinforce analytical predictions of performance.
 
Publisher IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
 
Date 2011-08-01T00:12:40Z
2011-12-26T12:53:12Z
2011-12-27T05:40:24Z
2011-08-01T00:12:40Z
2011-12-26T12:53:12Z
2011-12-27T05:40:24Z
2004
 
Type Article
 
Identifier IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 12(3), 329-339
1063-6536
http://dx.doi.org/10.1109/TCST.2004.825130
http://dspace.library.iitb.ac.in/xmlui/handle/10054/8286
http://hdl.handle.net/10054/8286
 
Language en