Fault Estimation for Intergrated Motor Transmission System Based on Nonlinear Switched Observer

In the Integrated motor-transmission (IMT) systems, the actuator plays a crucial part in the vehicle. As actuator working duration grows and driving conditions become more complex, actuator faults become more frequent. The vehicle’s driving performance will degrade if the actuator is at fault. To solve the problems that simultaneously estimate the actuator failure and the system state of IMT under the system’s nonlinear resistance torque and shift gears, this paper analyzes the IMT system as a switched model and designs a fault observer based on switched model. Using the Lyapunov stability theorem and the differential mean value theorem (DMVT), sufficient conditions to design the nonlinear UI observer are derived as linear matrix inequalities (LMIs), effectively solved via convex optimization techniques. Simulation results demonstrate the effectiveness of the proposed fault observer design.