Nonlinear parity space applied to an electric autonomous vehicle

The main interest of this paper is the generation of residuals using nonlinear analytical redundancy relations (NARR) for sensor and actuator faults detection and isolation of an autonomous electric vehicle called RobuCar. The relations are used to detect and to isolate sensor or actuator faults bas...

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Bibliographic Details
Main Authors: Bouibed, Kamel, Aitouche, Abdelouahab, Bayart, Mireille
Format: Conference Proceeding
Language:English
Subjects:
Actuators
autonomous electric vehicle
Electric vehicles
Electrical fault detection
fault detection and isolation
Mobile robots
nonlinear analytical redundancy
Nonlinear systems
observability
Redundancy
Remotely operated vehicles
residuals
Sensor systems
Space vehicles
Wheels
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Description
Summary:The main interest of this paper is the generation of residuals using nonlinear analytical redundancy relations (NARR) for sensor and actuator faults detection and isolation of an autonomous electric vehicle called RobuCar. The relations are used to detect and to isolate sensor or actuator faults based on the elimination of the unknown variables of the system. The nonlinear system of a four wheel steering vehicle RobuCar modelled in state space is used in our work. The method is well explained in detail and applied on the nonlinear vehicle model.
ISSN:2152-7431
2152-744X
DOI:10.1109/ICMA.2009.5246227