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Residual-signal generation for vehicle lateral dynamics disturbances: a switched-observers approach

  • Ali AbdoEmail author
  • Jamal Siam
  • Rashad Mustafa
  • Hakam Shehadeh
Original Paper
  • 55 Downloads

Abstract

Residual signal generation is a fundamental step in fault diagnosis and fault tolerant control systems. This paper proposes a switched observer approach to generate a road-adaptive vehicle dynamics residual signal. The main contribution in this paper is to generate a residual signal with low false alarm rate. Lateral vehicle dynamics suffers from presence of two types of disturbances, a stochastic white-noise disturbance and a deterministic lateral dynamics one. Kalman filter and parity-space approach are used to generate the residual signals that must feed the fault tolerant control system. The observers were modeled and simulated in Matlab/Simulink environment, they were then applied to a vehicle dynamics scenarios with lateral disturbances using virtual vehicle simulator (CarMaker).

Keywords

Switched observers Diagnostic observer Parity-space approach Kalman filter Vehicle lateral dynamics Road bank angle Fault detection 

Notes

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Copyright information

© Springer-Verlag France SAS, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Department of Electrical and Computer Engineering, Faculty of Engineering and TechnologyBirzeit UniversityRamallahPalestine
  2. 2.Department of Mechanical and Mechatronics Engineering, Faculty of Engineering and TechnologyBirzeit UniversityRamallahPalestine

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