Robust LPV fault tolerant tracking control using set-based approaches for autonomous vehicles

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Autores: Zhang, Shuang, Ifqir, Sara, Puig Cayuela, Vicenç|||0000-0002-6364-6429
Tipo de recurso: artículo
Fecha de publicación:2026
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/459088
Acceso en línea:https://hdl.handle.net/2117/459088
https://dx.doi.org/10.1109/TIE.2025.3600505
Access Level:acceso abierto
Palabra clave:Actuators
Estimation
Vehicle dynamics
Observers
Noise
Fault tolerant systems
Autonomous vehicles
Symmetric matrices
State feedback
Mechanical sensors
Active fault tolerant control
Actuator fault estimation
Linear parameter-varying (LPV)
Path tracking
Vehicle lateral dynamics
Zonotope
$\mathscr{H}_{\infty}$
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
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repository_id_str
spelling Robust LPV fault tolerant tracking control using set-based approaches for autonomous vehiclesZhang, ShuangIfqir, SaraPuig Cayuela, Vicenç|||0000-0002-6364-6429ActuatorsEstimationVehicle dynamicsObserversNoiseFault tolerant systemsAutonomous vehiclesSymmetric matricesState feedbackMechanical sensorsActive fault tolerant controlActuator fault estimationLinear parameter-varying (LPV)Path trackingVehicle lateral dynamicsZonotope$\mathscr{H}_{\infty}$Àrees temàtiques de la UPC::Informàtica::Automàtica i control© 2026 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.This article proposes a zonotopic filtering-based active fault tolerant tracking control (FTTC) scheme for autonomous vehicles, modeled as linear parameter-varying (LPV) systems subject to disturbances, noise and actuator faults. A zonotopic Kalman filter (ZKF) is proposed to simultaneously estimate both the unmeasurable states and actuator faults. Then, an FTTC is developed, including a reference input, a state-feedback controller, and a fault compensation mechanism. To minimize the impact of uncertainties on the estimates, the optimal filter gain is designed by minimizing the Frobenius norm of the state bounding zonotope. To reduce the tracking error and attenuate the disturbance effects, the controller design ensures the H8 performance of the uncertain tracking error dynamics by constructing a zonotopic Lyapunov function. Finally, the proposed scheme is applied to vehicle lateral dynamics for reference path-tracking control in the presence of actuator faults, and its effectiveness is demonstrated through simulations using real collected data.This work has been co-financed in part by the Spanish State Research Agency (AEI) and the European Regional Development Fund (ERFD) through the project SaCoAV under Grant MINECO PID2020-114244RB-I00; in part by the European Regional Development Fund of the European Union in the framework of the ERDF Operational Program of Catalonia 2014–2020 under Grant 001-P-001643 Looming Factory; in part by the DGR of Generalitat de Catalunya (SAC group under Grant 2017/SGR/482); and in part by the Chinese Scholarship Council (CSC) under Grant 202006120006. (Corresponding author: Vicenç Puig.)Peer ReviewedInstitute of Electrical and Electronics Engineers (IEEE)20262026-02-0120262026-03-20journal articlehttp://purl.org/coar/resource_type/c_6501AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/459088https://dx.doi.org/10.1109/TIE.2025.3600505reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)InglésengAgencia Estatal de Investigación http://doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 PID2020-114244RB-I00 COORDINACION SEGURA DE VEHICULOS AUTONOMOSopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/4590882026-05-27T15:37:01Z
dc.title.none.fl_str_mv Robust LPV fault tolerant tracking control using set-based approaches for autonomous vehicles
title Robust LPV fault tolerant tracking control using set-based approaches for autonomous vehicles
spellingShingle Robust LPV fault tolerant tracking control using set-based approaches for autonomous vehicles
Zhang, Shuang
Actuators
Estimation
Vehicle dynamics
Observers
Noise
Fault tolerant systems
Autonomous vehicles
Symmetric matrices
State feedback
Mechanical sensors
Active fault tolerant control
Actuator fault estimation
Linear parameter-varying (LPV)
Path tracking
Vehicle lateral dynamics
Zonotope
$\mathscr{H}_{\infty}$
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
title_short Robust LPV fault tolerant tracking control using set-based approaches for autonomous vehicles
title_full Robust LPV fault tolerant tracking control using set-based approaches for autonomous vehicles
title_fullStr Robust LPV fault tolerant tracking control using set-based approaches for autonomous vehicles
title_full_unstemmed Robust LPV fault tolerant tracking control using set-based approaches for autonomous vehicles
title_sort Robust LPV fault tolerant tracking control using set-based approaches for autonomous vehicles
dc.creator.none.fl_str_mv Zhang, Shuang
Ifqir, Sara
Puig Cayuela, Vicenç|||0000-0002-6364-6429
author Zhang, Shuang
author_facet Zhang, Shuang
Ifqir, Sara
Puig Cayuela, Vicenç|||0000-0002-6364-6429
author_role author
author2 Ifqir, Sara
Puig Cayuela, Vicenç|||0000-0002-6364-6429
author2_role author
author
dc.subject.none.fl_str_mv Actuators
Estimation
Vehicle dynamics
Observers
Noise
Fault tolerant systems
Autonomous vehicles
Symmetric matrices
State feedback
Mechanical sensors
Active fault tolerant control
Actuator fault estimation
Linear parameter-varying (LPV)
Path tracking
Vehicle lateral dynamics
Zonotope
$\mathscr{H}_{\infty}$
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
topic Actuators
Estimation
Vehicle dynamics
Observers
Noise
Fault tolerant systems
Autonomous vehicles
Symmetric matrices
State feedback
Mechanical sensors
Active fault tolerant control
Actuator fault estimation
Linear parameter-varying (LPV)
Path tracking
Vehicle lateral dynamics
Zonotope
$\mathscr{H}_{\infty}$
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
description © 2026 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
publishDate 2026
dc.date.none.fl_str_mv 2026
2026-02-01
2026
2026-03-20
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/459088
https://dx.doi.org/10.1109/TIE.2025.3600505
url https://hdl.handle.net/2117/459088
https://dx.doi.org/10.1109/TIE.2025.3600505
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Agencia Estatal de Investigación http://doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 PID2020-114244RB-I00 COORDINACION SEGURA DE VEHICULOS AUTONOMOS
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,812429

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