Robust fault detection and isolation of steer by wire system under various class of fault and system uncertainties

摘要

Recent advances toward steer-by-wire technology have promised significant improvements in vehicle, safety, stability, dynamics and maneuverability. The conventional mechanical linkages between the steering wheel and the front wheel are removed in this system. While the complete separation of the steering wheel from the road wheels provides exciting opportunities for vehicle dynamics control, it also presents practical problems for steering control about fault tolerant function such as the detection of sensor fault and multiplicative fault simultaneously. So Fault detection and isolation (FDI) plays important rule in this system. In this paper, Sliding Mode Observer (SMO) is proposed to use for model-based fault detection and isolation method which include processing of multiplicative and sensor fault. At last, simulation shows the effectiveness of the proposed method.