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

Authors: Mohammed Oudghiri, Mohammed Chadli, Ahmed El Hajjaji

Addresses: Universite de Picardie Jules Verne, Laboratoire de Modelisation, Information et Systeme (M.I.S), 7, Rue Moulin neuf 80000, Amiens, France. ' Universite de Picardie Jules Verne, Laboratoire de Modelisation, Information et Systeme (M.I.S), 7, Rue Moulin neuf 80000, Amiens, France. ' Universite de Picardie Jules Verne, Laboratoire de Modelisation, Information et Systeme (M.I.S), 7, Rue Moulin neuf 80000, Amiens, France

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.

Keywords: fuzzy modelling; LMI; bank of observes; FTC; fault tolerant control; fault detection; fault isolation; vehicle lateral dynamics; vehicle design; nonlinear dynamics; feedback control; simulation; robust control.

DOI: 10.1504/IJVD.2008.022575

International Journal of Vehicle Design, 2008 Vol.48 No.3/4, pp.173 - 189

Published online: 16 Jan 2009 *

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