Observer-Based Fault Estimation in Steer-by-Wire Vehicle

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Published: May 15, 2022
DOI: https://doi.org/10.5937/engtoday2201007D
Keywords:
Joint fault estimation, Sensor faults, Actuator faults, Steer-by-wire vehicle, Sliding-mode observer

Main Article Content

Vladimir Djordjević
University of Kragujevac, Faculty of Mechanical and Civil Engineering in Kraljevo, Kraljevo, Serbia
Vladimir Stojanović
University of Kragujevac, Faculty of Mechanical and Civil Engineering in Kraljevo, Kraljevo, Serbia
Dragan Pršić
University of Kragujevac, Faculty of Mechanical and Civil Engineering in Kraljevo, Kraljevo, Serbia
Ljubiša Dubonjić
University of Kragujevac, Faculty of Mechanical and Civil Engineering in Kraljevo, Kraljevo, Serbia
Marcelo Menezes Morato
Universidade Federal de Santa Catarina, Departamento de Automação e Sistemas, Florianópolis, Brazil

Abstract

In this paper, the mechanism for the fault estimation (FE) problem for a steer-by-wire (SBW) vehicle with sensor and actuator faults is investigated. To deal with the design issues, we transformed the nonlinear model of SBW vehicle into a new coordinate system to jointly estimate the sensor and actuator faults. In the new coordinate system, the Lipschitz conditions and system uncertainties are also considered. The proposed schemes essentially transform the original sys-tem into two subsystems, where subsystem-1 includes the effects of actuator faults but is free from sensor faults and subsystem-2 only has sensor faults. Then two sliding mode observers (SMOs) are designed to estimate actuator and sensor faults, respectively. The sufficient conditions for the existence of the proposed observers with H∞ performance are derived and expressed as an LMI optimization problem such that the upper bounds of the state and fault estimation errors can be minimized. Finally, the numerical example with simulation results is provided to validate the practicability and efficacy of the developed estimation strategy.

Article Details

How to Cite
[1]
V. Djordjević, V. Stojanović, D. Pršić, L. Dubonjić, and M. Menezes Morato, “Observer-Based Fault Estimation in Steer-by-Wire Vehicle ”, ET, vol. 1, no. 1, pp. 7–17, May 2022.
Issue
Vol. 1 No. 1 (2022): Engineering TODAY
Section
Original Scientific Papers

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