State Estimation and Dissipative-Based Control Design for Vehicle Lateral Dynamics with Probabilistic Faults

Rathinasamy Sakthivel, Saminathan Mohanapriya, Choon Ki Ahn, Palanisamy Selvaraj

Research output: Contribution to journalArticlepeer-review

22 Citations (Scopus)

Abstract

In this paper, the state estimation problem is studied for vehicle lateral dynamics, which are approximated by the Takagi-Sugeno (T-S) fuzzy model with probabilistic actuator faults. First, a fuzzy rule-based state estimator is constructed to estimate the exact state values of the considered system, and then a probability-dependent fault-tolerant state feedback controller is developed based on the estimated state values. Furthermore, by constructing an appropriate Lyapunov-Krasovskii functional, some novel delay-dependent sufficient conditions that ensure the mean-square asymptotic stability and strict (Qd,Sd,Rd)-dissipativity of the closed-loop fuzzy system are derived. Specifically, the proposed dissipative-based observer design scheme is developed by means of a set of linear matrix inequalities. Finally, the proposed state estimation and fault-tolerant dissipative controller are applied to the addressed system, which demonstrates the usefulness of the developed analytical results.

Original languageEnglish
Pages (from-to)7193-7201
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Volume65
Issue number9
DOIs
Publication statusPublished - 2018 Sep

Keywords

  • Actuator fault model
  • Takagi-Sugeno (T-S) fuzzy system
  • lateral vehicle dynamics
  • state estimation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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