Angular speed estimation and fault diagnosis based on an adaptive high-order sliding-mode observer

Abstract

Digitally controlled electromechanical actuators with d.c. motors have been installed on a growing number of luxury vehicles, improving the vehicle performance significantly. However, the installation space and the cost issues of speed sensors in d.c. motors have limited the application of electromechanical actuators on medium-size and compact vehicles. In this paper, a novel adaptive high-order sliding-mode observer, which is based on the hybrid sliding-mode method and adaptive theory, is proposed. By integration of two adaptive gains with a high-order sliding-mode observer, the proposed observer facilitates application without the use of a filter, reduces the estimation oscillations and strengthens the system’s robustness. The effectiveness of the proposed adaptive observer was validated by simulations and experimental data.