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Sensor Fault Detection and Isolation using a Non-linear Planar Kinematic Model of Vehicle Dynamics

Ho, Lok Man and Bünte, Tilman (2016) Sensor Fault Detection and Isolation using a Non-linear Planar Kinematic Model of Vehicle Dynamics. In: 2016 IEEE Multi-Conference on Systems and Control (2016 IEEE MSC). IEEE Multi-Conference on Systems and Control, 19.-22. Sep. 2016, Buenos Aires, Argentinean.

Full text not available from this repository.

Abstract

An approach for fault detection and isolation (FDI) of sensors in chassis control systems is presented. This approach makes use of the analytical redundancy in the non-linear kinematic relationships between wheel speeds, steering angles and the vehicle body motion, which is valid when negligible tyre slip can be assumed. Using a bounded-in-bounded-out approach, bounds for sensor values are computed from a subset of the remaining sensor values and their tolerances. A sensor value lying outside these bounds indicates a fault candidate. The tolerance propagation is achieved by solving a linear programming problem. By estimating a variety of output signals using different combinations of input signals, each residual generator is sensitive to a different subset of sensor faults, thus permitting fault isolation through structured residuals. The effectiveness of this FDI approach is demonstrated using simulation results and experimental test drive measurements from the DLR’s highly manoeuvrable ROboMObil research platform with four wheel individual large-range steering. Because of the latter, state-of-the-art methods cannot be applied.

Item URL in elib:https://elib.dlr.de/105169/
Document Type:Conference or Workshop Item (Speech)
Title:Sensor Fault Detection and Isolation using a Non-linear Planar Kinematic Model of Vehicle Dynamics
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ho, Lok ManLok.Ho (at) dlr.deUNSPECIFIED
Bünte, TilmanTilman.Buente (at) dlr.deUNSPECIFIED
Date:19 September 2016
Journal or Publication Title:2016 IEEE Multi-Conference on Systems and Control (2016 IEEE MSC)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:fault detection and isolation, kinematic model, linear programming, four wheel steering
Event Title:IEEE Multi-Conference on Systems and Control
Event Location:Buenos Aires, Argentinean
Event Type:international Conference
Event Dates:19.-22. Sep. 2016
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Ho, Lok Man
Deposited On:12 Jul 2016 13:36
Last Modified:07 Sep 2016 16:50

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