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.