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


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

June 19, 1995
June 30, 1995
August 20, 1995
Automotive, Observer, Sensor, Actuator, Diagnostics
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:
H. Yamaguchi, M. Osawa, N. Iwama, and M. 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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