Proprioceptive Sensors’ Fault Tolerant Control Strategy for an Autonomous Vehicle

. 2018 Jun 9;18(6):1893. doi: 10.3390/s18061893

Algorithm 1 The cross-decomposition algorithm.

Initialization step ( $k = 1$ ): solve LMI (26) and choose $K_{S F}$ and $K_{w}$ ;
Iterative step (k):
- (a)
  first part: solve LMI of Theorem 1, and fix $Q_{01}$ and $Q_{00}$ ;
- (b)
  second part: solve LMI of Theorem 1, and fix $K_{S F}$ ;
Final step: if $γ_{00}^{p a r t 1} - γ_{00}^{p a r t 2} < ϵ$ then choose $K_{S O F} = - Q_{01}^{- 1} Q_{00}$ , else $k = k + 1$ and return to Step 2.