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Title: Observer-based fault estimation in steer-by-wire vehicle
Authors: Đorđević, Vladimir
Stojanović, Vladimir
Pršić, Dragan
Dubonjic, Ljubisa
Menezes Morato, Marcelo
Issue Date: 2022
Abstract: n 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 system 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 FI°o 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.
Type: article
DOI: 10.5937/engtoday2201007D
ISSN: 2812-9474
Appears in Collections:Faculty of Mechanical and Civil Engineering, Kraljevo

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