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In this paper, a fault-tolerant control method is developed for steer-by-wire system with sensor fault and uncertainties. When a sensor fault occurs in the system, an adaptive sliding mode observer is employed for fault reconstruction. Based on the reconstructed results, a recursive non-singular terminal sliding mode control (RNTSMC) based on radial basis function neural network (RBFNN) is proposed to track the angle of the front wheel. The simulation results demonstrate that the proposed active fault-tolerant method effectively achieves fault-tolerant control of sensor fault with high accuracy. Moreover, compared to traditional PID controller, the RBFNN-RNTSMC exhibits superior tracking performance in terms of both accuracy and speed.

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Active Fault-Tolerant Control for Uncertain Steer-by-Wire System Using Radial Basis Function Neural Network

  • 会议论文

  • 发表日期：

    2026年

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  • Qingwang Zeng,
  • Yue Zhu,
  • Ming Yu,
  • Zhening Liang

摘要

In this paper, a fault-tolerant control method is developed for steer-by-wire system with sensor fault and uncertainties. When a sensor fault occurs in the system, an adaptive sliding mode observer is employed for fault reconstruction. Based on the reconstructed results, a recursive non-singular terminal sliding mode control (RNTSMC) based on radial basis function neural network (RBFNN) is proposed to track the angle of the front wheel. The simulation results demonstrate that the proposed active fault-tolerant method effectively achieves fault-tolerant control of sensor fault with high accuracy. Moreover, compared to traditional PID controller, the RBFNN-RNTSMC exhibits superior tracking performance in terms of both accuracy and speed.