Observer-Based Fault-Tolerant Controller for Uncertain Steer-by-Wire Systems Using the Delta Operator

Chao Huang, Fazel Naghdy, Haiping Du

Research output: Journal article publicationJournal articleAcademic researchpeer-review

44 Citations (Scopus)


A fault-tolerant control (FTC) for vehicle Steer-by-Wire (SbW) systems in the presence of actuator fault and bounded uncertainties is proposed. The minimax model predictive control (MPC) in the delta-domain is deployed to achieve the tracking performance under the actuator fault, system uncertainties, and disturbance. The feedback control action based on estimation error in parallel with the minimax MPC controller, ensures the system's robust asymptotic stability in the presence of estimation errors. A fault observer is developed to estimate both the fault information and the faulty SbW system. Both simulation and experimental results demonstrate that the proposed FTC strategy can handle various types of actuator faults. It has better robustness to system uncertainties and estimation errors compared to shift-operator-based MPC controller and PD controller, and maintains superior steering performance.

Original languageEnglish
Article number8326557
Pages (from-to)2587-2598
Number of pages12
JournalIEEE/ASME Transactions on Mechatronics
Issue number6
Publication statusPublished - Dec 2018
Externally publishedYes


  • Delta operator
  • fault observer
  • fault-tolerant controller (FTC)
  • minimax MPC
  • uncertain Steer-by-Wire (SbW) system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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