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Fault Tolerant Control of Vehicle Lateral Dynamic Using a New Pneumatic Forces Multiple Model

Authors :
Mohammed Nabil Kabbaj
Mohammed Benbrahim
Imane Abzi
Source :
Actuators, Volume 9, Issue 4, Actuators, Vol 9, Iss 120, p 120 (2020)
Publication Year :
2020
Publisher :
MDPI AG, 2020.

Abstract

This paper presents a new accurate multiple model of nonlinear pneumatic lateral forces. The bicycle representation is used in order to build up an easy implemented vehicle dynamic model. Moreover, the Takagi&ndash<br />Sugeno fuzzy approach is applied in order to handle the vehicle model nonlinearities. This structure allows for taking into account the small variation of the vehicle longitudinal velocity. Subsequently, a Fault Tolerant Control strategy that is based on a bank of fuzzy Luenberger observers is proposed. The robustness of the control scheme against external noises is guaranteed by applying H&infin<br />performance. Sufficient stability conditions that are based on Lyapunov method are formulated as Linear Matrix Inequality. Thus, allowing the computation of the observers&rsquo<br />and the controllers&rsquo<br />gains by using MATLAB. Finally, the simulation examples are performed to show the effectiveness of our proposal.

Details

ISSN :
20760825
Volume :
9
Database :
OpenAIRE
Journal :
Actuators
Accession number :
edsair.doi.dedup.....2d7773380b524151a40fde6c13d06416
Full Text :
https://doi.org/10.3390/act9040120