Fault-Tolerant Control for Lipschitz Nonlinear Systems: Vehicle Inter-Distance Control Application
Résumé
This paper is dedicated to the problem of fault tolerant control for Lipshitz nonlinear
system. As longitudinal vehicle dynamic is nonlinear, it is greatest to deal with the nonlinearities
in order to ensure stability and even reliability. A fault detection and estimation observer is
designed in this work to achieve system performances in event of sensor faults. An active fault
tolerant control based on state feedback with an integral action control scheme is designed in
order to ensure the stability robustness under fault occurrence. Indeed both designed observers
and controller gains are designed by solving the LMI problem in such a way that the system
remains robustly insensitive to external disturbances and sensor fault. Simulation results are
addressed to validate the effectivness of the porposed controller in different autonomous vehicle
driving scenarios