Vehicle Actuator Fault Detection With Finite-Frequency Specifications via Takagi-Sugeno Fuzzy Observers: Theory and Experiments

• Published in: IEEE transactions on vehicular technology Vol. 72; no. 1; pp. 407 - 417
• Main Authors: Pan, Juntao, Nguyen, Anh-Tu, Guerra, Thierry-Marie, Sentouh, Chouki, Wang, Sujun, Popieul, Jean-Christophe
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.01.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); Institute of Electrical and Electronics Engineers
• Subjects: Actuators; Automatic Control Engineering; Computer Science; Differential calculus; Driving conditions; Estimation; Fault detection; Frequency ranges; Linear matrix inequalities; linear matrix inequality; Mathematical analysis; Mathematical models; mixed <named-content xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" content-type="math" xlink:type="simple"> <inline-formula> <tex-math notation="LaTeX"> mathscr {H}_-/\mathscr {H}_\infty</tex-math> </inline-formula> </named-content> performance; Nonlinearity; Observers; Optimization; Redundancy; Safety; Steering; steering faults; Takagi-Sugeno fuzzy model; Takagi-Sugeno model; Unmanned ground vehicles; vehicle dynamics and estimation
• ISSN: 0018-9545; 1939-9359
• DOI: 10.1109/TVT.2022.3204326

This article presents a new nonlinear observer-based method to detect the faults of both steering and torque actuators of autonomous ground vehicles. To this end, the nonlinear vehicle system is reformulated in a Takagi-Sugeno (TS) fuzzy model with both measured and unmeasured nonlinear consequents, called N-TS fuzzy model. Differently from the classical TS fuzzy technique with linear consequents, this N-TS fuzzy reformulation enables an effective use of differential mean value theorem to deal with unmeasured nonlinearities, which is known as a major challenge in TS fuzzy observer design. Moreover, the N-TS fuzzy form also allows reducing not only the design conservatism but also the numerical complexity of the design conditions as well as the observer structure, which is crucial for real-time vehicle application. To minimize the disturbance effect with an <inline-formula><tex-math notation="LaTeX">\mathscr {H}_\infty</tex-math></inline-formula> performance and maximize the fault sensibility with an <inline-formula><tex-math notation="LaTeX">\mathscr {H}_-</tex-math></inline-formula> performance, the a priori information on the disturbance/fault frequency ranges is taken into account in the N-TS fuzzy observer design via the generalized Kalman-Yakubovich-Popov (KYP) lemma. Based on Lyapunov stability theory, the design of the proposed multiobjective <inline-formula><tex-math notation="LaTeX">\mathscr {H}_-/\mathscr {H}_\infty</tex-math></inline-formula> N-TS fuzzy fault detector is recast as an optimization problem with strict linear matrix inequality (LMI) constraints, which can be effectively solved with numerical solvers. Both numerical and experiments are performed under realistic driving conditions to demonstrate the theoretical and practical interests of the new finite-frequency fuzzy fault detection method.