Robust Output H∞ Fuzzy Control for Active Fault Tolerant Vehicle Stability

This paper presents an active Fault Tolerant Control (FTC) strategy for vehicle lateral dynamics. A bicycle vehicle model using small angle approximations is used to represent vehicle behavior. Firstly, the nonlinear lateral vehicle dynamics is approximated by a Takagi-Sugeno fuzzy model with parametric uncertainties and sensor faults. Secondly a robust H∞ output controller is used. A method based on a bank of observers is used for detection and isolation of sensor faults. The effectiveness of the proposed strategy have been illustrated in simulation.