A New Nonlinear control strategy for a vehicle trajectory tracking in the presence of faults

Starting from the thought that vehicle’s dynamics and its control play an important role in an automated highway system for passenger cars, and continuing the work presented in [1] and [2], that deal with the dynamics of the vehicle, and the study of the influence of faults on the movement of the center of gravity and on the stability of the vehicle. we present in this work two important ideas, in the first one, the trajectory tracking control problem in the simple cases where there are no faults, and in the second one, the response of the proposed controller in the case of faults. In the control design, we will propose a nonlinear predictive controller, in which we will integrate by this approach both the active wheel steering control and the four wheel torques. For testing the validity of our proposed controller, a set of computer simulations, describing different trajectories are made; reasonable results will be demonstrated and shown.