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Robust H∞ observer-based fault-tolerant control for T–S fuzzy vehicle models under time-varying delays and uncertainties: application to lateral vehicle dynamics
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DOI：10.1080/00207721.2026.2681129.png)
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Abstract
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This paper addresses the problem of fault estimation (FE) and fault-tolerant control (FTC) of vehicle lateral dynamics in the presence of nonlinear time-varying delays and actuator faults. To capture the nonlinear dynamics with time-varying delays arising from control signal processing and actuator faults behaviour, a discrete-time Takagi–Sugeno (T–S) fuzzy model is employed. A modular FE–FTC observer-controller structure is proposed, where the observer reconstructs system states and actuator fault signals under unknown disturbances, while the controller ensures closed-loop stability and fault-tolerant performance. The stability conditions are derived using Lyapunov-Krasovskii functionals (LKFs) combined with summation inequalities and reformulated into linear matrix inequalities (LMIs), enabling efficient convex optimisation of the observer and controller gains within an H∞ framework. The proposed scheme explicitly integrates both time-varying delays and actuator faults in a discrete-time fuzzy framework, which has been shown to effectively increase robustness and performance when compared to existing approaches. Simulation results on a nonlinear vehicle model demonstrated the efficacy of the FE–FTC scheme and further illustrated the importance of accounting for delays and actuator faults while designing a controller.
Keywords:
Takagi–Sugeno (T–S) fuzzy models
actuator fault
fuzzy observer
fault estimation (FE)
Lyapunov-Krasovskii functionals (LKFs)
linear matrix inequalities (LMIs)
fault-tolerant control (FTC)
lateral vehicle model
bicycle model
time-varying delays
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