Robust model-based fault detection for roll rate sensor

Due to the wide variation of vehicle dynamics under a vast operating range, such as dynamically changing road super-elevations and road grades, the detection of a roll rate signal fault using analytical redundancy is particularly challenging. These challenges, as well as the robustness and performance of the proposed scheme are discussed. The robust performance of the proposed scheme, over model uncertainties and road disturbances, is illustrated analytically and validated through simulations and experiments. The analytical illustrations include three elements: a robust estimation of the vehicle roll angle, a dynamic compensation of both electrical and kinematics-induced bias in the roll rate signal, and a directionally sensitive design of a robust observer which decouples the model uncertainties and disturbances from the fault.