Fault-tolerant Control for Uncertain Vehicle Active Steering Systems with Time-delay and Actuator Fault

In this paper, the fuzzy control problem for uncertain time-delay active steering systems with actuator fault is investigated. Due to the variation of vehicle mass, Takagi-Sugeno fuzzy model is introduced to describe the uncertainties by employing the sector nonlinearity method. In the process of signal transmission, the network-induced delay and packet dropouts are unavoidable. To handle this problem, a robust H∞ controller is designed to regulate the vehicle lateral motion. A fault-tolerant controller is designed to reduce the impact of actuator fault on the vehicle active steering systems. Based on the Lyapunov stability theory, sufficient conditions are established to ensure that the resulting closed-loop system is asymptotically stable with the prescribed H∞ performance. Simulation results are provided to confirm the effectiveness and applicability of the proposed control scheme.