Simultaneous vehicle automatic steering and fault detection

In this paper, steering control of ground vehicles is studied with integrated control and detection and isolation of sensor and actuator fault (FDI) in closed loop. We formulate both the steering control and the fault detection and isolation problems using LMI-based Η∞ design. Controller reduction is performed using cone complementary linearization algorithm. The performance of the steering controller and FDI capabilities are simulated for several vehicle maneuvers and sensor and actuator faults.