Publication

Diagnosis and fault-tolerant control techniques for autonomous vehicles

Conference Article

Conference

Conference on Control and Fault Tolerant Systems (SYSTOL)

Edition

2021

Pages

91-96

Doc link

https://doi.org/10.1109/SysTol52990.2021.9595905

File

Download the digital copy of the doc pdf document

Abstract

This paper presents the performance of zonotopic fault detection (FD) for additive and multiplicative fault using direct test and inverse test. Zonotopic set-based approaches use the zonotope to describe the uncertain state, parameter and noise which are assumed unknown but bounded to reduce their influences on FD. These FD test methods aim at checking the consistency between the measured and estimated behaviour obtained from estimator in the parameter or output space. When an inconsistency is detected between these two, a fault can be indicated. At last, a motor model will be used to compare the performance of direct test and inverse test for additive and multiplicative faults.

Categories

nonlinear programming.

Author keywords

fault detection setmembership,zonotope,parameter estimation,state estimation

Scientific reference

S. Zhang and V. Puig. Diagnosis and fault-tolerant control techniques for autonomous vehicles, 2021 Conference on Control and Fault Tolerant Systems, 2021, Saint-Raphaël, France, pp. 91-96.