ORIGINAL RESEARCH article
Front. Comput. Sci.
Sec. Networks and Communications
Takagi-Sugeno Fuzzy Fault Estimator Design for Nonlinear Dynamics of Autonomous Ground Vehicles
Sujun Wang 1
Juntao Pan 2
Xiuhong Shen 1
Fan Lu 1
1. Ningxia Normal University, Guyuan, China
2. North Minzu University, Yinchuan, China
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Abstract
In the context of cloud and edge computing for real-time fault diagnosis (FD) in autonomous ground vehicles (AGVs), this paper proposes a novel fault estimation method for AGV actuators. A two degrees-of-freedom nonlinear vehicle model is first used to characterize the AGV dynamics. Based on this, a Takagi–Sugeno (TS) fuzzy observer is designed to estimate actuator fault signals. To handle unmeasurable premise variables, a nonlinear partitioning method reconstructs the TS fuzzy model into an N-TS fuzzy form. Unlike conventional TS fuzzy models with linear consequents, this reformulation incorporates the differential mean value theorem to explicitly address unmeasured nonlinearities—a common difficulty in TS fuzzy observer design. Using Lyapunov stability theory, the fault estimator is formulated as an optimization problem subject to strict linear matrix inequalities (LMIs), which can be solved efficiently with numerical tools. The proposed observer is validated through co-simulations in Simulink and CarSim, demonstrating its potential for deployment in cloud computing environments to enhance fault management in AGVs. Keywords: Takagi-Sugeno fuzzy models, autonomous ground vehicles, nonlinear observer, fault estimation, unmeasured premise variables
Summary
Keywords
Autonomous ground vehicles, Fault estimation, Nonlinear observer, Takagi-Sugeno fuzzy models, unmeasured premisevariables
Received
19 October 2025
Accepted
19 February 2026
Copyright
© 2026 Wang, Pan, Shen and Lu. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
*Correspondence: Juntao Pan
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