Direct Yaw Moment Fault Tolerant Tracking Control for Lateral Vehicle Dynamics

Over the last decades, an increasing interest has been considered in improving vehicle performances by using advanced control systems. Nevertheless, the implementation of these systems can be a source of faults. To ensure vehicle stability without performance degradation, problems of both estimation and tracking control design are studied for vehicle dynamics in presence of faults and parametric uncertainties. The first part of this paper focuses on sideslip angle, yaw rate and fault estimations via a Proportional Integral observer (PIO). Then, a PIO based tracking control design method, explained via a block diagram, is proposed not only to maintain vehicle stability but also to track the desired trajectories despite the fault effects. The observer and controller gains are computed by solving convex optimization problems under Linear Matrix Inequality (LMI) constraints. Finally, simulation results are presented to prove the effectiveness of the proposed process.