Robust control and fault detection synthesis with application to tractor-semitrailer automatic steering

Automatic steering of tractor-semitrailer is studied with integrated control, 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 H/sub /spl infin// design. Controller reduction is performed using cone complementary linearization algorithm. The performance of the steering controller and FDI capabilities are simulated by considering several maneuvers such as lane keeping and lane change with parameter variations and sensor and actuator faults.