Robust Takagi–Sugeno Fuzzy Fault Tolerant Control for Vehicle Lateral Dynamics Stabilization With Integrated Actuator Fault and Time Delay
- 1 October 2021
- journal article
- research article
- Published by ASME International in Journal of Dynamic Systems, Measurement, and Control
- Vol. 144 (2)
- https://doi.org/10.1115/1.4052273
Abstract
This paper investigates the lateral dynamics stabilization problem for autonomous electric vehicles (AEVs) through the active front steering (AFS) system. A fault-estimation-observer-based robust fuzzy fault tolerant controller is proposed to tackle actuator faults, time delay, modeling nonlinearities, and external disturbances. First, to establish a more accurate dynamics model, the Takagi–Sugeno (T–S) fuzzy modeling strategy is utilized to handle velocity change and parameter uncertainties. Second, to further improve the lateral stability and driving active safety of the AEV, an integrated actuator fault model comprising efficiency loss fault and additional bias fault is proposed. Meanwhile, in order to diagnose actuator additional bias fault, a fuzzy fault estimation observer (FFEO) is designed to acquire fault information online. Third, to eliminate the influence caused by integrated fault and actuator time delay, a fuzzy fault tolerant controller is constructed to improve the handling performance and driving active safety of the AEV. Finally, the effectiveness of the proposed control scheme is demonstrated via a full-car model based on the joint simulation of carsim and matlab/simulink.Keywords
Funding Information
- National Natural Science Foundation of China (51705084)
This publication has 40 references indexed in Scilit:
- Chassis integrated control for active suspension, active front steering and direct yaw moment systems using hierarchical strategyVehicle System Dynamics, 2016
- Active Steering Actuator Fault Detection for An Automatically-steered Electric Ground VehicleIEEE Transactions on Vehicular Technology, 2016
- A Robust Observer-Based Sensor Fault-Tolerant Control for PMSM in Electric VehiclesIEEE Transactions on Industrial Electronics, 2016
- Robust $H_{\infty}$ Path Following Control for Autonomous Ground Vehicles With Delay and Data DropoutIEEE Transactions on Intelligent Transportation Systems, 2016
- Active Fault-Tolerant Control for Electric Vehicles With Independently Driven Rear In-Wheel Motors Against Certain Actuator FaultsIEEE Transactions on Control Systems Technology, 2015
- Real-time fault diagnosis and fault-tolerant controlIEEE Transactions on Industrial Electronics, 2015
- Fault Estimation and Fault Tolerant Control for Discrete-Time Dynamic SystemsIEEE Transactions on Industrial Electronics, 2015
- Vehicle Lateral Dynamics Control Through AFS/DYC and Robust Gain-Scheduling ApproachIEEE Transactions on Vehicular Technology, 2015
- Adaptive Fault Tolerant Tracking Control for Linear and Lipschitz Nonlinear Multi-Agent SystemsIEEE Transactions on Industrial Electronics, 2014
- Robust fault-tolerant control against time-varying actuator faults and saturationIET Control Theory & Applications, 2012