Hand-wheel steering signal estimation and diagnosis approaches for ground vehicles

Fault-type identification and fault estimation of the active steering system of an electric vehicle in normal driving conditions

“…Consequently, it is imperative to study identification of the fault type in the steering system of a vehicle. However, very few studies have been made on the identification of fault types and the estimation of faults in the steering system of a vehicle, even though many efforts have been devoted to fault estimation theory [10][11][12][13][14][15] for fault detection in the steering system of a vehicle [16][17][18][19] and in other systems of a vehicle. [20][21][22][23] The contributions of this paper lie in the following aspects.…”

“…where B = B 2 . Therefore, the problem of fault-type identification and fault estimation becomes the problem of estimation of the parameter u in a parameter-varying system described by equation (16).…”

“…Theorem. 28 We consider the linear parameter-varying system described in equation (16). The observer…”

Angular speed estimation and fault diagnosis based on an adaptive high-order sliding-mode observer

“…By using one input observer compensated with the sliding-mode method, a steering angle estimator was designed on the basis of the vehicle yaw rate and, by utilizing the calculated value and the estimated value, the estimator can be used to detect the sensor faults. 14 To estimate the motor speed and position, a sliding-mode observer was designed with a variable cut-off frequency filter; 15 however, it can cause a delay angle problem. A robust sliding-mode observer with an extended Kalman filter was proposed to estimate the speed of a permanent-magnet synchronous motor (PMSM), but this observer still required a low-pass filter which can cause a phase lag in the estimation.…”

“…Another adaptive sliding-mode observer was proposed to strengthen the robustness with respect to the noises, but no experimental validation was presented. 19 As can be seen, because of the robustness variable structure strategy provided, [14][15][16][19][20][21][22] the sliding-mode observer has been utilized widely, although it also results in an undesirable chattering phenomenon. To address this problem, a hybrid sliding-mode observer (HSMO), consisting of a non-singular terminal sliding mode and a high-order sliding mode was proposed; 23 it can make it possible for the error to converge to zero by a non-singular terminal sliding mode and can guarantee the system stability further by the high-order sliding mode.…”