Actuator Fault Detection and Adaptive Fault-Tolerant Control Algorithms Using Performance Index and Human-Like Learning for Longitudinal Autonomous Driving

Sechan Oh; Jongmin Lee; Kwangseok Oh; Kyongsu Yi

doi:10.22680/kasa2021.13.4.129

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2021 Vol.13, Issue 4 Preview Page

Actuator Fault Detection and Adaptive Fault-Tolerant Control Algorithms Using Performance Index and Human-Like Learning for Longitudinal Autonomous Driving 종방향 자율주행을 위한 성능 지수 및 인간 모사 학습을 이용하는 구동기 고장 탐지 및 적응형 고장 허용 제어 알고리즘

31 December 2021. pp. 129-143

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Abstract

This paper proposes actuator fault detection and adaptive fault-tolerant control algorithms using performance index and human-like learning for longitudinal autonomous vehicles. Conventional longitudinal controller for autonomous driving consists of supervisory, upper level and lower level controllers. In this paper, feedback control law and PID control algorithm have been used for upper level and lower level controllers, respectively. For actuator fault-tolerant control, adaptive rule has been designed using the gradient descent method with estimated coefficients. In order to adjust the control parameter used for determination of adaptation gain, human-like learning algorithm has been designed based on perceptron learning method using control errors and control parameter. It is designed that the learning algorithm determines current control parameter by saving it in memory and updating based on the cost function-based gradient descent method. Based on the updated control parameter, the longitudinal acceleration has been computed adaptively using feedback law for actuator fault-tolerant control. The finite window-based performance index has been designed for detection and evaluation of actuator performance degradation using control error.

Keywords

Feedback control

Autonomous driving

Multiple RLS

Fault tolerant control

Performance index

키워드

되먹임 제어

자율주행

다중 순환 최소 자승

고장 허용 제어

성능 지수

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Information

Publisher :Korean Auto-vehicle Safety Association
Publisher(Ko) :한국자동차모빌리티안전학회
Journal Title :Journal of Auto-vehicle Safety Association
Journal Title(Ko) :자동차안전학회지
Volume : 13
No :4
Pages :129-143
Received Date : 2021-05-17
Revised Date : 2021-09-01
Accepted Date : 2021-09-07
DOI :https://doi.org/10.22680/kasa2021.13.4.129

Journal of Auto-vehicle Safety Association ISSN:2005-9396(Print) 자동차안전학회지

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