Model-based fault detection and isolation in steer-by-wire vehicle using sliding mode observer

Abstract

Steer-by-Wire system (SbW), in which the conventional mechanical linkages between the steering wheel and the front wheel are removed, is suited to active steering control, improving vehicle stability, dynamics and maneuverability. And SbW is implemented to autonomous steering control to assist the driver. However, the SbW vehicle contains unsolved important problems about fault tolerant function. For example, it is the detection of sensor fault and multiplicative fault simultaneously. Fault detection and isolation (FDI) is essential in fault-tolerant problems, and conventional FDI for SbW was based on Kalman filter. But this method has weak robustness and cannot detect sensor fault and multiplicative fault simultaneously. We propose a novel model-based fault detection and isolation method using sliding mode observer in the SbW vehicle, which contains measurement of sensor fault and multiplicative fault. The effectiveness of the proposed method is verified by simulations.

Survey on Fault-Tolerant Diagnosis and Control Systems Applied to Multi-motor Electric Vehicles

“…Model-based fault detection methods are well studied and reported in the literature [2], [7], [19], [20], [21] and [22]. According to [18], model-based methods are widely used and are usually performed in two steps: residual generation and residual evaluation.…”

“…In this model-based approach there are also some works related to the problematic of safety in X-by-Wire systems such as drive-by-wire, steer-by-wire, throttle-by-wire or brake-by-wire [11], [12], [21] [23], and [24].…”

“…Dynamic redundancy requires fewer modules at the cost of more information processing. However, without mechanical redundancy, the reliability of the system needs to be improved by implementing fault-tolerant control techniques [21]. In fact, with the profit margin already low, mechanical redundancy will not be acceptable to the automobile industries.…”

Adaptive Nonlinear Actuator Fault Diagnosis for Uncertain Nonlinear Systems with Time‐Varying Delays

“…Frank's comprehensive survey paper [2] established the role of observers in model-based FDD. Since then, various observers, such as adaptive observers, high gain observers, sliding mode observers, and iterative learning observers, have been proposed in the literature to design FDD algorithms for practical control systems [3][4][5][6][7][8][29][30][31][32][33][34].…”

Observer‐based fault diagnosis and self‐restore control for systems with measurement delays

“…[5] proposed a fault detection scheme that was characterized by a structure of two observers. A sliding mode observer-based FDI approach was employed for an SbW vehicle in [6], for a satellite system in [7], and so on [8]. A descriptor observer-based FDI method was proposed for multivariable systems with measurement noises in [9].…”