Fault Estimation and Tolerant Control for Vehicle Lateral Dynamics

This paper presents a Fault Tolerant Control (FTC) strategy for vehicle lateral dynamics with roll effect described by Takagi-Sugeno (T-S) fuzzy model to approximate the vehicle lateral dynamics with consideration of the roll motion. The integrated approach here concerns the actuator and sensor faults. This study requires the knowledge of the system parameters and the occurring faults. For that, a Proportional-Integral Observer (PIO) is adapted to estimate system states and faults. The proposed control makes it possible to preserve the stability of the vehicle even in the presence of these faults. The observer and controller designs are based on the Lyapunov approach formulated in Linear Matrix Inequalities (LMI). The simulation results clearly show a robustness of the proposed observer and a rigorous stability of the proposed controller strategy to maintain a vehicle's stability.