A fault tolerant control architecture for automated highway systems

Fault-Tolerant Control for Automated Highway Systems

Increasing highway traffic congestion and real estate costs that limit the building of new highways has brought about a renewed interest in an Automated Highway System (AHS) where the vehicle steering task (“lateral control”) and the braking/throttle tasks (“longitudinal control”) are taken over by computers to increase the throughput of existing highways. Since safety plays a key role in the d...

Towards a Fault Tolerant AHS Design Part I: Extended Architecture

We propose a hierarchical control architecture for dealing with faults and adverse environmental conditions on an Automated Highway System (AHS). Our design builds on a previously designed control architecture that works under normal conditions of operation. The faults that are considered in our design are classi ed according to the capabilities remaining on the vehicle or roadside after the fa...

Robust Takagi-Sugeno sensor fault tolerant control strategy for nonlinear system

Mechanical Verification of Fault Tolerant Architecture in a Prototype Verification System

In this paper, we present an approach to embed our formal Generic Fault Tolerant Software Architecture (GFTSA) model in the PVS theorem prover to achieve automatic verification support for reasoning about fault tolerant system properties. In order to make the verification process more efficient and systematic, we also propose a template approach for the auto-generation of specifications and pro...

A New Fault Tolerant Nonlinear Model Predictive Controller Incorporating an UKF-Based Centralized Measurement Fusion Scheme

A new Fault Tolerant Controller (FTC) has been presented in this research by integrating a Fault Detection and Diagnosis (FDD) mechanism in a nonlinear model predictive controller framework. The proposed FDD utilizes a Multi-Sensor Data Fusion (MSDF) methodology to enhance its reliability and estimation accuracy. An augmented state-vector model is developed to incorporate the occurred senso...