Vehicle Actuator Fault Detection With Finite-Frequency Specifications via Takagi-Sugeno Fuzzy Observers: Theory and Experiments
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,...
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| Published in | IEEE transactions on vehicular technology Vol. 72; no. 1; pp. 407 - 417 |
|---|---|
| Main Authors | , , , , , |
| 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 | |
| Online Access | Get full text |
| ISSN | 0018-9545 1939-9359 |
| DOI | 10.1109/TVT.2022.3204326 |
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| Abstract | 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. |
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| AbstractList | Abstract This article investigates the design of Takagi–Sugeno (TS) fuzzy model‐based observers for nonlinear systems with parametric uncertainties and unknown inputs. To address this challenging problem, two observers are constructed in cascade. Based on the sliding mode technique, the first observer allows to examine a new system whose both state and output equations are subject to uncertainties but without unknown inputs. The second Luenberger‐type observer is designed for the new system where the effects of uncertainties on the estimation error can be canceled. The TS fuzzy observer design is recast as optimization problems under linear matrix inequalities, which can be effectively solved using convex optimization technique. The new cascade observer structure enables a simultaneous estimation of the system states, the unknown inputs and the uncertainties of the original nonlinear system. The effectiveness and advantage of the proposed estimation method is demonstrated via two numerical examples including a nonlinear vehicle application. 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. 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 [Formula Omitted] performance and maximize the fault sensibility with an [Formula Omitted] 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 [Formula Omitted] 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. |
| Author | Pan, Juntao Wang, Sujun Guerra, Thierry-Marie Sentouh, Chouki Nguyen, Anh-Tu Popieul, Jean-Christophe |
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| Snippet | 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... Abstract This article investigates the design of Takagi–Sugeno (TS) fuzzy model‐based observers for nonlinear systems with parametric uncertainties and unknown... |
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| SubjectTerms | 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 |
| Title | Vehicle Actuator Fault Detection With Finite-Frequency Specifications via Takagi-Sugeno Fuzzy Observers: Theory and Experiments |
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