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

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,...