Integrated Fault Estimation and Fault-Tolerant Control for Drive-by-Wire Steering Systems in Four-Wheel Independent Drive Vehicles
Year: 2026
Type: article
Abstract: This study proposes an integrated fault estimation and fault-tolerant control strategy for actuators of four-wheel independently driven vehicles. Firstly, a modeling approach is developed by combining the vehicle dynamics model with the steering actuator model to establish a system model in the presence of actuator faults. Subsequently, to simultaneously estimate the system states and actuator faults, an unknown input observer (UIO) is designed, treating actuator faults as unknown state variables and augmenting the system state variables to achieve simultaneous estimation of states and faults, providing a foundation for subsequent fault-tolerant control research. The gain matrices of the fault observer and the fault-tolerant controller are both obtained through single-step linear matrix inequality (LMI) computations, realizing the design of an integrated fault-tolerant control system. Finally, the effectiveness and superiority of the proposed method are verified through hardware-in-the-loop experimental tests.
Source: Sensors
DOI: 10.3390/s26134185
Authors: Feng Wang, Wangcheng Chu, Xiaoyuan Zhu
Institutions: Jiangsu University, Southeast University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
OpenAlex ID: W7167038486