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Journal of Sensors
Volume 2018, Article ID 3291639, 9 pages
Research Article

Sensor Fault Diagnosis Observer for an Electric Vehicle Modeled as a Takagi-Sugeno System

1Tecnológico Nacional de México (TecNM)/Instituto Tecnológico de Tuxtla Gutiérrez, TURIX Dynamics-Diagnosis and Control Group, Carretera Panam, km 1080, Tuxtla Gutiérrez, CHIS, Mexico
2Tecnológico Nacional de México (TecNM)/Instituto Tecnológico de Hermosillo, TURIX-Hermosillo, Av. Tecnológico y Periférico Poniente S/N, 83170 Hermosillo, SON, Mexico
3HSPdigital-CA Mecatrónica, Facultad de Ingeniería Campus San Juan del Río, Universidad Autónoma de Querétaro, Río Moctezuma 249, San Cayetano, 76807 San Juan del Río, QRO, Mexico

Correspondence should be addressed to F. R. López-Estrada; xm.ude.gtti@zepolrf

Received 25 August 2017; Revised 28 November 2017; Accepted 4 December 2017; Published 28 March 2018

Academic Editor: Jing Xu

Copyright © 2018 S. Gómez-Peñate et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A sensor fault diagnosis of an electric vehicle (EV) modeled as a Takagi-Sugeno (TS) system is proposed. The proposed TS model considers the nonlinearity of the longitudinal velocity of the vehicle and parametric variation induced by the slope of the road; these considerations allow to obtain a mathematical model that represents the vehicle for a wide range of speeds and different terrain conditions. First, a virtual sensor represented by a TS state observer is developed. Sufficient conditions are given by a set of linear matrix inequalities (LMIs) that guarantee asymptotic convergence of the TS observer. Second, the work is extended to perform fault detection and isolation based on a generalized observer scheme (GOS). Numerical simulations are presented to show the performance and applicability of the proposed method.