The Estimation of Ambiguous Change in 4WS Control System Using Failure Detection Filter

This paper presents a new method for estimating the ambiguous change in a 4WS control system using a failure detection filter. This filter is designed to discriminate ambiguous failure modes in the control system by processing output errors between sensors and an observer. The result of the experiments using a 4WS vehicle revealed that the filter can estimate the failures of the sensors and the actuator with high accuracy. The effects of a lateral wind and other disturbances on the filter were also clarified.