Robust Fault Detection Filter Design With Applications to Steer-by-Wire Vehicles

Abstract

This paper presents a method for designing robust, model-based fault detection filters for linear systems with bounded parametric uncertainty. The approach maximizes the theoretical channel capacity of the system and diagnostic filter together, regarding the fault condition as an input to a hypothetical communication channel and the resulting residual as the output, with sensor noise, disturbances, and system input as sources of interference. This results in a robust residual that is both sensitive to faults and insensitive to noise and disturbances. The effectiveness of the technique is demonstrated in the design of a fault detection filter for use with a diagnostic system for a steer-by-wire vehicle.

Structural analysis of a vehicle dynamics model for fault detection and isolation on the ROboMObil

“…Note that even with this approach, perfect isolation of all the faults is not possible for the system being investigated. 2,3,4,5,6,7,8,9,18,19,20,21,22,23,24,25 1,2,3,5,6,7,8,9,10,12,13,14,16,17,18,19,22,23,24,25 I,2,3,5,6,7,8,9,10,12,13,14,16,17,19,21,22,23,24,25 1,2,3,4,…”

“…Compared to a global FDI problem, the hierarchical approach has the advantage of reduction in the complexity of the individual FDI problems. A comparable problem is investigated in [6], in which fault detection filters for a Steer-by-Wire vehicle with individually steerable front wheels were developed. This paper aims to use structural analysis techniques to design the isolation matrix, a problem which becomes more difficult if relying on inspection-based methods for larger systems.…”

Fault detection and isolation of vehicle dynamics sensors and actuators for an overactuated X-by-wire vehicle

“…Many studies so far have focussed on model-based diagnosis of ESP sensor faults on conventional vehicle architectures with manual front steering ( [1], [2], [3]), while [4] addresses the problem for a prototype with steer-by-wire on the front wheels. The application of modelbased fault detection and isolation (FDI) to an overactuated, fully by-wire vehicle architecture with in-wheel mechatronic actuators poses interesting challenges.…”

Application of Adaptive Thresholds in Robust Fault Detection of an Electro-Mechanical Single-Wheel Steering Actuator

“…Several studies have been conducted regarding fault detection of SBW systems. These include approaches viewing the actuator at the level of the electric motor (Thomsen & Blanke (2006)), considering the steering system as a whole including the forces arising from the road-wheel interaction (Pisu et al (2004)), or a combination the above (Gadda (2008)).…”