1. Date of download: 10/29/2017
Copyright © ASME. All rights reserved.
From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System
J. Dyn. Sys., Meas., Control. 2014;136(4): doi: /
Figure Legend:
System layout of an ESP system [3]

2. Date of download: 10/29/2017
Copyright © ASME. All rights reserved.
From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System
J. Dyn. Sys., Meas., Control. 2014;136(4): doi: /
Figure Legend:
Bicycle model

3. Date of download: 10/29/2017
Copyright © ASME. All rights reserved.
From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System
J. Dyn. Sys., Meas., Control. 2014;136(4): doi: /
Figure Legend:
Comparison of linear and nonlinear model with changing vehicle speed

4. Date of download: 10/29/2017
Copyright © ASME. All rights reserved.
From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System
J. Dyn. Sys., Meas., Control. 2014;136(4): doi: /
Figure Legend:
SMO-based FDI scheme

5. Date of download: 10/29/2017
Copyright © ASME. All rights reserved.
From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System
J. Dyn. Sys., Meas., Control. 2014;136(4): doi: /
Figure Legend:
The residual evaluator scheme

6. Date of download: 10/29/2017
Copyright © ASME. All rights reserved.
From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System
J. Dyn. Sys., Meas., Control. 2014;136(4): doi: /
Figure Legend:
State transition after fault 2 being detected

7. Date of download: 10/29/2017
Copyright © ASME. All rights reserved.
From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System
J. Dyn. Sys., Meas., Control. 2014;136(4): doi: /
Figure Legend:
Command input of front steering angle and longitudinal speed of the vehicle

8. Date of download: 10/29/2017
Copyright © ASME. All rights reserved.
From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System
J. Dyn. Sys., Meas., Control. 2014;136(4): doi: /
Figure Legend:
Simulation I results: residuals (absolute value) and corresponding thresholds

9. Date of download: 10/29/2017
Copyright © ASME. All rights reserved.
From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System
J. Dyn. Sys., Meas., Control. 2014;136(4): doi: /
Figure Legend:
Simulation I results: fault types

10. Date of download: 10/29/2017
Copyright © ASME. All rights reserved.
From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System
J. Dyn. Sys., Meas., Control. 2014;136(4): doi: /
Figure Legend:
Simulation II results: residuals (absolute value) and corresponding thresholds

11. Date of download: 10/29/2017
Copyright © ASME. All rights reserved.
From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System
J. Dyn. Sys., Meas., Control. 2014;136(4): doi: /
Figure Legend:
Simulation II results: fault types

12. Date of download: 10/29/2017
Copyright © ASME. All rights reserved.
From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System
J. Dyn. Sys., Meas., Control. 2014;136(4): doi: /
Figure Legend:
Simulation III results: residuals (absolute value) and corresponding thresholds

13. Date of download: 10/29/2017
Copyright © ASME. All rights reserved.
From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System
J. Dyn. Sys., Meas., Control. 2014;136(4): doi: /
Figure Legend:
Simulation III results: fault types

14. Date of download: 10/29/2017
Copyright © ASME. All rights reserved.
From: Sliding Mode Observer and State-Machine-Based Fault Diagnosis With Application in a Vehicle Chassis Steering System
J. Dyn. Sys., Meas., Control. 2014;136(4): doi: /
Figure Legend:
Simulation results comparison: when tire cornering stiffness changes −35%