Robust observer-based fault-tolerant control for vehicle lateral dynamics

Abstract

This paper presents online sensor Fault Detection and Isolation (FDI) and the associated Fault-Tolerant Control (FTC) algorithm for a vehicle lateral dynamics represented by the uncertain Takagi-Sugeno (T-S) fuzzy model. The fault-detection scheme is based on a bank of observers method. Using the LMI formulation, the T-S fuzzy model of the vehicle non-linear dynamics is used to design an observer-based output feedback controller. To demonstrate the effectiveness of the proposed strategy, simulation results are given.