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

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. This paper was recommended for publication in revised form by Associate Editor Kyoungsu Yi Jae-Sung Im was born in Busan, Korea in 1978. He received his B.S. and M.S. degrees in Mechanical Engineering from Pukyong National University, Korea, in 2003 and 2005, respectively. He then received his Ph.D. degree from Kumamoto University, Japan, in 2009. His interests are in vehicle dynamics, robust control, fault detection and isolation, and man-machine interface. Fuminori Ozaki received the B.S. and M.S. degrees from the Department of Computer Science, Kumamoto University, Japan, in 1998 and 2000. In 2000, he joined OMRON Corporation, Kyoto, Japan, where he developed semiconductor manufacturing equipment. His current interests include EPS control and KANSEI engineering. Tae-Kyeong Yue received the B.S. and M.S. degrees from Pukyong National University, Korea, in 1998 and 2000, respectively. He received the Ph.D. degree from Kumamoto University, Kumamoto, Japan in 2003. He is working in the Korea Ocean Research and Development Institute (KORDI), Korea. His interests are fault detection and isolation, decentralized control and control of deep-sea mining system. Shigeyasu Kawaji received his Master of Engineering in Electrical Engineering and Doctor of Engineering in Control Engineering from Kumamoto University and Tokyo Institute of Technology, Japan, in 1969 and 1980, respectively. He joined the Department of Electronic Engineering of Kumamoto University, Japan, where he is presently as a full professor. He is the Director of System Integration Laboratory. He is presently the President of Advanced Health Laboratory Ltd. His current research interest includes robust control, intelligent control mechatronics and robotics, fusion of medicine and engineering, and automotive mechatronic systems.