Robust fault tolerant tracking controller design for vehicle dynamics: A descriptor approach

被引：99

作者：

Aouaouda, S. ^{[1
]}

Chadli, M. ^{[2
]}

Boukhnifer, M. ^{[3
]}

Karimi, H. R. ^{[4
]}

机构：

[1] Univ Souk Ahras LEER, Souk Ahras 41000, Algeria

[2] Univ Picardie Jules Verne, MIS EA4290, F-80039 Amiens, France

[3] ESTACA Paris, Lab Commande & Syst, F-92300 Levallois Perret, France

[4] Univ Agder, Fac Sci & Engn, Dept Engn, N-4879 Grimstad, Norway

来源：

MECHATRONICS | 2015年 / 30卷

关键词：

Takagi-Sugeno model; Fault tolerant control; Unknown inputs; Sensor faul; Descriptor observer; Vehicle dynamics; H-INFINITY CONTROL; NONLINEAR-SYSTEMS; UNKNOWN INPUTS; FUZZY-SYSTEMS; OBSERVER; STABILIZATION; STABILITY;

D O I：

10.1016/j.mechatronics.2014.09.011

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, an active Fault Tolerant Tracking Controller (FTTC) scheme dedicated to vehicle dynamics system is proposed. To address the challenging problem, an uncertain dynamic model of the vehicle is firstly developed, by considering the lateral forces nonlinearities as a Takagi-Sugeno (TS) representation, the sideslip angle as unmeasurable premise variables and the road bank angle as an unknown input. Subsequently, the vehicle dynamic states with the sensor faults are jointly estimated by a descriptor observer on the basis of the roll rate and the steering angle measures. Then a fault tolerant tracking controller is synthesized and solutions are proposed in terms of Linear Matrix Inequalities (LMIs). Simulation results show that the proposed FT control approach can effectively improve tracking performance of the vehicle motion. (C) 2014 Elsevier Ltd. All rights reserved.

引用

页码：316 / 326

页数：11

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