Vehicle following : control design, simulation and experiments

Abstract

fault occurs at any part of the system, it will be detected and isolated while the remaining parts of the vehicle continue to operate. Based on the physical structure of the vehicle, two separate but cooperative low-level controllers are built up to manage the front and rear sets of driving and steering systems. Each controller by itself can manipulate the vehicle, if the other is not working. When both controllers are working, they communicate with each other to cooperate in controlling the vehicle. The vehicle-following maneuver is supervised by the proposed controller which integrates all the fault diagnostic information from the vehicle to adjust its parameters and control commands. Simulation and experimental results show the efficiency of the fault-tolerant vehicle-following system. Before the end of the thesis, recommendations are given for future work on the vehiclefollowing control and fault tolerant control.