Dynamic Proportional Integral Interval Observer-Based Fault Tolerant Control for Switched Systems: Application to Vehicle Lateral Dynamics

This paper proposes a new approach for co-design of interval observer and Fault-Tolerant Control (FTC) for uncertain switched linear systems subject to unknown but bounded disturbances and uncertainties. The lower and upper bounds of system states and fault vectors are reconstructed simultaneously by a Dynamic Proportional Integral Interval Observer (DPIIO) while a fault-tolerant tracking controller is designed to stabilize the closed-loop system and compensate for the effects of faults. The coordinate transformation method is applied to relax the common conservative conditions imposed on observer gain matrices. The observer and controller gain matrices are obtained by Linear Matrix Inequalities (LMIs) based on multiple Lyapunov function using input-to-state-stable (ISS) under average dwell time (ADT). Finally, the effectiveness of the proposed strategy is evaluated and proved through an application to lateral vehicle dynamics estimation.