Robust fault detection for vehicle lateral dynamics

Abstract

This paper investigates the problem of fault detection and isolation (FDI) for vehicle lateral dynamics. The system under consideration is a Linear Parameter Varying (LPV) model, where the scheduling parameter is related to the vehicle speed. The heart of the proposed approach relies in synthesizing robust residuals for some specified working speed. The robustness guaranties the validity between each working points. Synthesis of robust residuals is inspired from the wellknown parity-space method but extended for uncertain systems. The final fault detector is reconstructed by switching from the different residuals according to the speed. An applicative illustration is presented to detect a sensor fault on a vehicle lateral dynamic system. The measurements have been provided by the MIPS laboratory in collaboration within the French INOVE project.

Detection of critical situations for vehicle lateral dynamics

“…FAULT DETECTION The fault detection methodology is inspired from [6]. The proposed approach rests on the parity space methodology as initiated in [7].…”

“…The proposed approach in [6] is well adapted for this problem as it allows a smart synthesis adapted to the implementation target.…”

“…It has recently been observed the emergence of model based approaches based on optimization process, minimizing the effect of uncertainties while maximizing the effect of the faults on the residual, such as H ∞ approaches solved by linear matrix inequalities (LMIs) [14], [15]. Those methods are mostly designed for LTI systems, however, some methods have been recently designed for parameter varying systems (LPV) in [6], [16], [17].…”

“…The detection of critical situation is finally rewritten as fault detection problem, where the fault is the difference between the nominal model and the real system. The fault detection approach that has been chosen as a robust and oriented to implementation approach [6].…”

The cross-coupling of lateral-longitudinal vehicle dynamics: Towards decentralized Fault-Tolerant Control Schemes

“…In particular, a degraded-mode lateral control for an automated highway system was designed using feedback linearization and a mismatched 3 observer synthesized with H ∞ . Alternatively, in [11,12] a Linear Parameter Varying (LPV ) BM which considers the velocity as a varying parameter was used for the design of a steering controller.…”