Switched Unknown Input Interval Observers for Vehicle Lateral Dynamics Fault-Tolerant Tracking Control
Résumé
This paper addresses designing a fault-tolerant tracking control for vehicle lateral dynamics, modeled as an uncertain switched linear parameter varying (LPV) system with actuator faults and bounded uncertainties. First, a switched unknown input interval observer (SUIIO) estimates the bounds of system states, unaffected by unknown input disturbances. An algebraic unknown fault interval reconstruction links the unknown input to the state bounds. A fault-tolerant controller ensures reference tracking despite faults. Sufficient Linear Matrix Inequalities (LMIs) conditions are formulated using Multiple Input-to-State-Stable (ISS) Lyapunov functions with average dwell-time (ADT). The methodology's efficiency is validated through Matlab-Simulink, demonstrating its practicality for vehicle lateral dynamics control.