T-S Fuzzy Observers to Design Actuator Fault-Tolerant Control for Automotive Vehicle Lateral Dynamics

Abstract

This article presents a fault-tolerant control (FTC) procedure for the automotive vehicle lateral dynamics (AVLD) described by the Takagi-Sugeno (T-S) fuzzy models. This approach focuses on actuator faults, which requires knowledge of the system parameters and the faults that are occurring. For this reason, T-S fuzzy observers are suitable for simultaneously estimating system states and actuator faults. The proposed control makes it possible to maintain vehicle stability even in the presence of faults. The design of fuzzy observers and fuzzy controllers is mainly based on the one-step method of Lyapunov, which is provided in the form of linear matrix inequalities (LMIs). The simulation results clearly illustrate the effectiveness of the applied controller strategy to maintain vehicle stability.

Relaxed State and Fault Estimation for Vehicle Lateral Dynamics Represented by T–S Fuzzy Systems

“…Replacing N i by its expression (52) and taking into account the Y � RY and Q i � RQ i give the linear matrix inequalities (33) and (34). is completes the proof.…”

“…Membership function parameters (a i , b i , and c i ) and stiffness coefficient values (C fi and C ri ) are obtained using a Levenberg-Marquardt algorithm-based identification method combined with the least square method [33]. e T-S fuzzy model of vehicle lateral dynamics is obtained by replacing the lateral forces in the nonlinear model (1) by their fuzzy expressions (2).…”

“…Proof. If conditions (25) in eorem 1 hold, by applying Lemma 1, we directly obtain the conditions (33). e conditions (34) are obtained by using Lemma 1 twice.…”