Fault tolerant fuzzy control of the safety distance of an electric vehicle in traffic

Abstract

The main subject of this project thesis is the fault tolerant control of nonlinear systems described by Takagi-Sugeno fuzzy models. We present firstly some generalities about electrical vehicles and then we give their dynamic model. We present after that some results for the analysis of T-S fuzzy models and how to study their stability. We also present the main results concerning the stabilization problem of T–S models by a fuzzy state feedback controller with the presence and the absence of state observer. The stability conditions of the T–S fuzzy models are written in linear matrix inequalities (LMIs). Then, a structure with integral part to assure path tracking. We used reconstruction methods of state and faults estimation with PI observer, then an active fault tolerant control was developed in order to control the vehicle spacing.