Observer-based Actuator Fault Diagnosis for Vehicle Electronic Stability Control Four-Wheel Steering System

To improve the stability of vehicle operation when the actuator failure, the schemes of fault diagnosis for vehicle electronic stability control system is investigated. Firstly, a two-degree-of-freedom (2-DOF) vehicle mathematical model of a four-wheel steering system with actuator fault is established. Second, an observer is designed for the uncertain system and have a theoretical proof. The gain is obtained by linear matrix inequalities (LMIs). Finally, the actuator fault at different speeds is verified through the co-simulation of MATLAB and Carsim. The results show that the designed observer can realize the actuator fault and improve the reliability and accuracy of the vehicle.

1 Introduction

In recent years, vehicles have brought a lot of convenience and accidents, the technology of automobile active safety has been paid more and more attention. Electronic stability control (ESC) system can maintain vehicle handling stability and reduce traffic accidents [1]. The actuator is an important part of the ESC system. When the actuator fails, it will affect the stability and security of the system. Therefore, the actuator fault diagnosis of the ESC system is of great significance.