Abstract
The paper proposes a multi-layer supervisory architecture for integrated control systems in road vehicles. The role of the supervisor is to coordinate active control components and provide priority among them. The supervisor has information about the current operational mode of the vehicle and it is able to make decisions about the necessary interventions into the vehicle components and guarantee the reconfigurable operation of the vehicle. The decisions of the supervisor are propagated to the lower layers through predefined interfaces encoded as suitable scheduling signals. The contribution of the paper is the application of the LPV methodology in a design case study in which an integrated control of four wheel independently-actuated electric vehicle with active steering system is developed.
KEYWORDS – robust control, reconfigurable, fault-tolerant, LPV methods, integrated control