A novel H∞ observer for sensor fault diagnosis of vehicle electronic stability control system with disturbance and input delay

This paper mainly focuses on the sensor fault diagnosis method based on H∞ observer in vehicle electronic stability control (ESC) system with disturbance and input delay. Firstly, the four-wheel steering vehicle model is established. Secondly, the system state and sensor fault are reconstructed into new system variables by a special matrix transformation method, based on which a new H∞ observer is developed to estimate system state and sensor fault signals. Then, based on Lyapunov method and linear matrix inequality (LMI) theory, the conditions for asymptotic stability and H∞ performance of the estimation error system are proved. Finally, Carsim and Matlab/Simulink co-simulation are used to show the effectiveness of the method.