LPV design of fault-tolerant control for road vehicles

The aim of the paper is to present a supervisory decentralized architecture for the design and development of reconfigurable and fault-tolerant control systems in road vehicles. The performance specifications are guaranteed by the local controllers, while the coordination of these components is provided by the supervisor. Since monitoring components and the FDI filters provide the supervisor with information about the various vehicle maneuvers and the different fault operations, it is able to make decisions about the necessary interventions into the vehicle motions and guarantee the reconfigurable and fault-tolerant operation of the vehicle. The design of the proposed reconfigurable and fault-tolerant control is based on an LPV method that uses monitored scheduling variables during the operation of the vehicle.