T-S fuzzy observers design and actuator fault tolerant control applied to vehicle lateral dynamics

In this study, we present a method for estimating actuator faults along with a technique of fault-tolerant control (FTC) based on fuzzy observers for continuous Takagi-Sugeno (T-S) fuzzy models, which are affected by modelling disturbances and actuator faults. The stability analysis is based on the quadratic function of Lyapunov and resolving a convex set of linear matrix inequalities (LMIs). The purpose is to ensure the asymptotic stability of the system states and to compensate for the impact of disturbances and actuator faults. Ultimately, numerical simulations on the vehicle lateral dynamics model exemplify the efficiency of the proposed control and the fuzzy observers' design procedure.