Delta Operator-Based Model Predictive Control with Fault Compensation for Steer-by-Wire Systems

Chao Huang, Fazel Naghdy, Haiping Du

Research output: Journal article publicationJournal articleAcademic researchpeer-review

20 Citations (Scopus)


In a Steer-by-Wire (SbW) system, the mechanical linkages which connect the steering wheel to front wheels are replaced by a digitally controlled steering system. In spite of improved vehicle safety due to better steering capability, the SbW system actuator failure may lead to unwanted steering performance or even instability. A fault tolerant model predictive control (MPC) with fault compensation for SbW systems based on delta operator for actuator faults is proposed. It deploys an observer to estimate both the fault information and the faulty SbW system states. At each sampling time, the MPC immediately compensates for the fault. The gains of the observer and the fault tolerant MPC controller are obtained by solving a linear matrix inequality derived from the Lyapunov theory. The simulation results illustrate that the proposed fault tolerant control strategy can counter the various types of actuator faults and maintain superior steering performance to shift operator-based MPC controller.

Original languageEnglish
Article number8327624
Pages (from-to)2257-2272
Number of pages16
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number6
Publication statusPublished - Jun 2020
Externally publishedYes


  • Actuator failure
  • delta operator
  • fault tolerant control (FTC)
  • model predictive control (MPC)
  • Steer-by-Wire (SbW) systems

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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