The present invention involves a
system and method of model-based fault detection for a vehicle steer-by-wire
system. The method includes providing a steer-by-wire fault detection unit to implement fault detection for the
fault occurrence in sensors, actuators, and the controlled
plant. The steer-by-wire fault detection unit is composed of a
residual generator and decision-making unit. The
residual generator generates a series of residual
signal which are difference between the
estimation signals based on a steer-by-wire controlled
plant mathematical model and the actual measurement signals of steer-by-wire controlled
plant. The
decision making unit determines whether any faults have occurred by applying a fault test rule for residual signals. The fault detection for the steer-by-wire
system includes the influence of system uncertainty and nonlinearity, A robust
gain scheduling H∞ fault
detector is implemented to generate residual signals to reduce the effect of system uncertainty and nonlinearity for the residual signals. Therefore, the fault detection system is robust with respect to the model uncertainty,
external noise and dynamic
gain change, and is sensitive to faults occurrence in the steer-by-wire controlled plant.