Fault-Tolerant Control for Lipschitz Nonlinear Systems: Vehicle Inter-Distance Control Application

International audienceThis paper is dedicated to the problem of fault tolerant control for Lipshitz nonlinearsystem. As longitudinal vehicle dynamic is nonlinear, it is greatest to deal with the nonlinearitiesin order to ensure stability and even reliability. A fault detection and estimation observer isdesigned in this work to achieve system performances in event of sensor faults. An active faulttolerant control based on state feedback with an integral action control scheme is designed inorder to ensure the stability robustness under fault occurrence. Indeed both designed observersand controller gains are designed by solving the LMI problem in such a way that the systemremains robustly insensitive to external disturbances and sensor fault. Simulation results areaddressed to validate the effectivness of the porposed controller in different autonomous vehicledriving scenario