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- Mohammed Chadli [2]
- Dounia Saifia [1]
- Hamid-Reza Karimi [1]
- Sabrina Aouaouda [1]
- Salim Labiod [1]
This study deals with the design of a robust fault estimation and fault-tolerant control for vehicle lateral dynamics subject to external disturbance and unknown sensor faults. Firstly, a descriptor state and fault observer is designed to achieve the system state and sensor fault estimates simultaneously. Secondly, based on the information of on-line fault estimates, a robust fault-tolerant controller based on static output-feedback controller (SOFC) design approach is developed. To provide linear matrix inequalities of less conservatism, the results are conducted in the non-quadratic framework dealing with unmeasurable premise variables case. Simulation results show the effectiveness of the proposed control approach when the vehicle road adhesion conditions change and the sideslip angle is unavailable for measurement.
This chapter focuses on H∞, fuzzy control of suspension systems under actuator saturation. The Takagi-Sugeno (T-S) approach is used to model the suspension system (quarter, half and full cars) by interpolation of different local linear models. A nonlinear state feedback control parallel distributed compensation (PDC) is employed for designing control system. The main idea of this controller consists in designing a linear feedback control for each local linear model. To address the input saturation problem, both constrained and saturated control input cases are proposed. In the two cases, H∞, stabilization conditions are derived using Lyapunov method. Moreover, a controller design with the largest domain of attraction is formulated and solved as a linear matrix inequality optimization problem. An application to quarter-car suspension system is given. Our simulation results show that both saturated and constrained controls can stabilize the resulting closed-loop suspension quarter car via PDC control and eliminate the effect of external disturbances despite the presence of saturation. Indeed, the main roles of car suspension systems which consist of improving ride comfort of passengers and the road holding capacity of the vehicle are achieved.
