A New Non Linear Control Strategy Basing on a Validated Model for a Vehicle Trajectory Tracking in the Presence of Faults 2006-01-3527

This paper describes the problem of vehicle trajectory tracking control in the plane (X, Y). While following this trajectory, and to test some of the extreme cases, several types of faults are produced. Some of these faults may be described by a decrease in tires inflation pressures. For that reason, an analytical model representing the comportment of the vehicle and integrating these faults is proposed. In order to use this model in the control, several validations are made by the advanced simulator VE-DYNA. As a second step of this work, the controller design is made; this controller acts on the steering angle and on the torques of the wheels. It is based on the principles of the predictive control. The controller is tested in two cases: in the normal case where the task is to follow a predefined trajectory without faults, and in the other case where the task is the same but faults described by tires pressures decrease are produced. Computer simulations pointed out the effectiveness of the proposed controller.