Partial State Feedback Based Adaptive Control for Lateral Vehicle Motion with Sensor Failures

This paper presents an adaptive partial state feedback scheme for desired sensor failure compensation in the lateral vehicle motion. Consider that the sensor failure greatly deteriorates the instructions of the autopilot and blurs the driver’s judgement, leading to the safety accident of the vehicle. To handle these perils, the observer is used to estimate unmeasurable state information since the sensor failure exists. The nominal partial state feedback controller is designed and parameterized when the system model analysed is known. In addition, the adaptive compensation method is used to obtain a controller structure to deal with the unknown system parameters, which can effectively solve the problem of unknown system models caused by parameter perturbations. Finally, the effectiveness of the fault compensation scheme is verified by simulation results.