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

Sakthivel Rathinasamy, Mohanapriya S, Choon Ki Ahn, Selvaraj P

Research output: Contribution to journalArticle

13 Citations (Scopus)


In this paper, the state estimation problem is studied for the 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 ensuring the mean-square asymptotic stability and strict (Q_d,S_d,R_d)- dissipativity of the closed-loop fuzzy system are derived. It should be pointed out that the obtained stability conditions not only depend on the size of delay, but also the probability distribution of delay. Based on the estimated system states, a fault-tolerant dissipative control design is developed, by which the system performance can be recovered when actuator and sensor faults occur. Specifically, the proposed dissipativity-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
JournalIEEE Transactions on Industrial Electronics
Publication statusAccepted/In press - 2018 Jan 12


  • actuator fault model
  • Actuators
  • Bicycles
  • Fault tolerance
  • Fault tolerant systems
  • Lateral vehicle dynamics
  • State estimation
  • state estimation
  • T-S fuzzy system
  • Vehicle dynamics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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