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JRM Vol.7 No.4 pp. 312-318
doi: 10.20965/jrm.1995.p0312
(1995)

Paper:

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

Hiroyuki Yamaguchi*, Masataka Osawa*, Norio Iwama*
and Masaki Yamamoto**

*Toyota Central Research & Development Laboratories, Inc., 41-1, Yokomichi, Oaza, Nagakute, Nagakute-cho, Aichi-gun, Aichi-ken, 480-11 Japan

**Toyota Motor Corporation, 1200, Mishuku, Susono-shi, Shizuoka, 410-11 Japan

Received:
June 19, 1995
Accepted:
June 30, 1995
Published:
August 20, 1995
Keywords:
Automotive, Observer, Sensor, Actuator, Diagnostics
Abstract

This paper presents a new method for estimating the ambiguous change in a 4WS control system using 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 lateral wind and other disturbances on the filter were also clarified.

Cite this article as:
Hiroyuki Yamaguchi, Masataka Osawa, and Norio Iwama
and Masaki Yamamoto, “The Estimation of Ambiguous Change in 4WS Control System Using Failure Detection Filter,” J. Robot. Mechatron., Vol.7, No.4, pp. 312-318, 1995.
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