Adaptive Observer-Based Output Feedback FTC for Nonlinear Interconnected Vehicle Dynamics with Unknown Actuator Faults

This work proposes a novel robust adaptive fault estimation and control reconfiguration framework for an integrated lateral and longitudinal vehicle control system affected by unknown bounded actuator faults. An interconnected Linear Parameter Varying (LPV) observer architecture is proposed to estimate the vehicle states and the occurrence of unknown actuator faults. To construct the LPV observer for online estimation, non-measurable nonlinearities related to real-time variation in the longitudinal and lateral velocities and tires slip behavior are considered in a polytope with finite vertices. Subsequently, an output feedback interconnected fault-tolerant controller (FTC) is proposed based on the Takagi-Sugeno (T-S) approach which reduces conservatism and computational complexity while enhancing robustness. The stability analysis of the proposed adaptive observer is performed using the Lyapunov theory. In particular, the ISpS (Input-to-State practical Stability) characteristic is employed for more robustness against unknown disturbances inputs and nonlinearities terms. Finally, hardware validation is performed with the full-scale
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herpa driving simulator to illustrate the performance in terms of robustness and applicability of the proposed FTC architecture.