標題: A complete fault diagnostic system for automated vehicles operating in a platoon
作者: Rajamani, R
Howell, AS
Chen, C
Hedrick, JK
Tomizuka, M
機械工程學系
Department of Mechanical Engineering
關鍵字: automated highway system;fault diagnostics;nonlinear observers;platoon;vehicle dynamics
公開日期: 1-Jul-2001
摘要: A "complete" fault diagnostic system is developed for automated vehicles operating as a platoon on an automated highway system. The diagnostic system is designed to monitor the complete set of sensors and actuators used by the lateral and longitudinal controllers of the vehicle, including radar sensors, magnetometers and inter-vehicle communication systems, A fault in any of the twelve sensors and three actuators is identified without requiring any additional hardware redundancy. The diagnostic system uses parity equations and several reduced-order nonlinear observers constructed from a simplified dynamic model of the vehicle. Nonlinear observer design techniques are used to guarantee asymptotically stable convergence of estimates for the nonlinear dynamic system. Different combinations of the observer estimates and the available sensor measurements are then processed to construct a bank of residues. The paper analytically shows that a fault in any one of the sensors or actuators creates a unique subset of these residues to grow so as to enable exact identification of the faulty component. Both simulation and experimental results are presented to demonstrate the effectiveness of the fault diagnostic system in the presence of various faults.
URI: http://dx.doi.org/10.1109/87.930966
http://hdl.handle.net/11536/29507
ISSN: 1063-6536
DOI: 10.1109/87.930966
期刊: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume: 9
Issue: 4
起始頁: 553
結束頁: 564
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