Sensor fault tolerant control strategy for autonomous vehicle driving

Abstract

This paper is dedicated to the sensor fault tolerant control scheme for autonomous vehicle driving. The nonlinear lateral vehicle model is described by the fuzzy Takagi-Sugeno (TS) model. The contributions aspects of this work consist of the development of a descriptor observer to estimate the state system and faults by ensuring robustness against external disturbances. The gains of this observer are obtained by solving the LMI constraints, which are developed using a L2 gain technique and H∞ criterion. Indeed, the proposed fault tolerant control strategy is justified by its ability to maintain an acceptable performance in the presence of the sensor failure. Simulation results are addressed to demonstrate the capability of this fault tolerant control to counteract the effect of the sensor fault.