Robust sensor fault detection and isolation for a Steer-by-Wire system based on sliding mode observer

A new approach for the design of robust H
_∞
sliding mode observer for Steer-by-Wire (SBW) systems with parametric uncertainties and sensor faults is proposed based on linear matrix inequalities (LMIs). The resulting H
_∞
observer guarantees asymptotic stability of the estimation error dynamics and is robust against parametric uncertainties. A sensor fault estimation scheme is presented where the estimated signal can approximate the fault signal to any accuracy. The effectiveness of the proposed approach is verified by simulations.