Authors:
M. Ruhnke
1
;
2
;
X. Moreau
2
;
A. Benine Neto
2
;
M. Moze
1
;
F. Aioun
1
and
F. Guillemard
1
Affiliations:
1
Stellantis, Centre Technique de Vélizy, Route de Gisy, 78140 Vélizy-Villacoublay, France
;
2
Univ. Bordeaux, CNRS, Bx INP, Laboratoire IMS, UMR 5218, 33400 Talence, France
Keyword(s):
Passivity, Switched Systems, Dissipativity, Vehicle Dynamics, Reconfiguration.
Abstract:
Ensuring safety and fault tolerant strategies is essential in the development of Advanced Driver Assistance System, such as an automated cruise control.This work presents a study of the stability of switched regulated systems following the reconfiguration of the speed controller due to a fault. Firstly, the context of these works is presented highlighting the need to have a fault management system with a diagnostic part and a reconfiguration part in order to ensure the operating safety. The reconfiguration part can take the form of a switch thus involving the study of stability. It is in this context that, secondly, the passivity of the plant as well as of both the controllers (CRONE and PI) is demonstrated. As the switch takes place between two elements of a passive nature, the last point of this work highlights the application of the continuous approach in order to demonstrate the passivity and therefore the stability of the regulated plant despite the presence of the switch. To ad
dress this problem, an augmented model in the form of a generic state space representation of the controllers and the plant is constructed. Then, a Lyapunov candidate function representing the sum of the storage function of the controller and the plant is defined. A sign study of this function as well as its derivative is carried out for the two operational modes (CRONE regulating the plant and PI regulating the plant) in order to demonstrate the passivity of the switched regulated systems.
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