H∞ Yaw and Roll Sensors Fault Tolerant Control for Vehicle Lateral Dynamics

This paper shows a $H$∞control approach based on the state feedback estimated by the Luenberger observer, as well as a method of detection and isolation of sensor faults (FDI). This method is based on a bank of observers, in order to apply a strategy of fault-tolerant control (FTC) to the vehicle lateral dynamics with roll motions represented by the Takagi-Sugeno (T-S) fuzzy model. Which makes it possible to preserve the stability of the vehicle despite the presence of sensor faults and also the existence of noises. Based on the approach of Lyapunov, the observer and controller designs were formulated as linear matrix inequalities (LMIs), the simulation results distinctly show the importance and effectiveness of the proposed strategy.

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