Embedded FDI-FTC of an Autonomous Vehicle with Decentralized Control

Abstract This paper deals with an embedded FDI-FTC approach applied on an over actuated electric’ vehicle. This method is described by three major steps: trajectory planning based on the inverse kinematic modeling of the vehicle, model base fault diagnosis of the traction system and vehicle control reconfiguration in faulty situations. Autonomous vehicles as that studied in this work are very suited to accomplish missions in confined space, or in hostile environments (in radioactive environment and spacial programs), where the success of the mission is more important than the cost of the over actuators. Co-Simulation results using experimental data shows the performances and advantages of the presented approach.