NGUYEN, Duc To (University of Evry Paris-Saclay), Mammar, Said (UNIVERSITE EVRY), Ichalal, Dalil (IBISC-Lab Evry Val d'Essonne University), SMAILI, Mohand (Univ EVry Paris-Saclay)

Switched Unknown Input Interval Observers for Vehicle Lateral Dynamics Fault-Tolerant Tracking Control

Scheduled for presentation during the Regular Session "Vehicle control" (FrBT4), Friday, September 27, 2024, 15:10−15:30, Salon 7

2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), September 24- 27, 2024, Edmonton, Canada

This information is tentative and subject to change. Compiled on December 26, 2024

Abstract

This paper investigates the problem of designing a fault-tolerant tracking control procedure for vehicle lateral dynamics. Vehicle dynamics are modeled as an uncertain switched linear parameter varying (LPV) system, subject to actuator faults and characterized by unknown yet bounded uncertainties. First, a switched unknown input interval observer (SUIIO) is designed to estimate the lower and upper bounds of system states while remaining unaffected by unknown input disturbances. An algebraic unknown fault interval reconstruction is then established based on the relationship between the unknown input and the lower and upper estimation of the system states. Finally, a fault-tolerant controller is developed to guarantee the reference tracking in the presence of faults. To establish the viability of such observers and controllers, sufficient Linear Matrix Inequalities (LMIs) conditions are formulated using Multiple Input-to-State-Stable (ISS) Lyapunov functions integrated with average dwell-time (ADT). The efficiency of the proposed methodology is analyzed using Matlab-Simulink, providing a comprehensive assessment of the approach's practicality and applicability in the context of vehicle lateral dynamics estimation and control.