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Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

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Integrated Fault Estimation and Fault-Tolerant Control for Drive-by-Wire Steering Systems in Four-Wheel Independent

Feng Wang¹, Wangcheng Chu¹, Xiaoyuan Zhu²

¹Automotive Engineering Research Institute, Jiangsu University, Xuefu Road, Zhenjiang 212013, China.

Sensors (Basel, Switzerland)

|July 15, 2026

Summary

This study presents a new integrated strategy for estimating and tolerating actuator faults in four-wheel independently driven vehicles. The method enhances vehicle safety and control performance by accurately detecting and compensating for faults.

Keywords:

actuator faults integrated fault estimation and fault-tolerant control steer-by-wire unknown input observer

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Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

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Area of Science:

Automotive Engineering
Control Systems
Fault Diagnosis and Tolerant Control

Background:

Actuator faults in four-wheel independently driven vehicles (4-FWIDVs) pose significant safety risks.
Existing fault-tolerant control (FTC) strategies often require separate fault detection and controller design steps.

Purpose of the Study:

To develop an integrated fault estimation and fault-tolerant control (FTC) strategy for 4-FWIDVs.
To simultaneously estimate system states and actuator faults for enhanced control.
To provide a robust foundation for advanced FTC research in automotive applications.

Main Methods:

A comprehensive system model combining vehicle dynamics and steering actuator dynamics was developed.
An unknown input observer (UIO) was designed for simultaneous state and fault estimation.
Linear matrix inequality (LMI) computations were used to obtain observer and controller gains.

Main Results:

The proposed integrated strategy effectively estimates system states and actuator faults.
The fault-tolerant controller successfully compensates for actuator faults.
Hardware-in-the-loop (HIL) experiments validated the method's effectiveness and superiority.

Conclusions:

The integrated fault estimation and FTC approach offers a unified solution for actuator faults in 4-FWIDVs.
The LMI-based design ensures efficient computation and robust performance.
The validated method enhances the safety and reliability of autonomous driving systems.