Abstract
Abstract:
A real challenge in many applications is the design of a FDI scheme that is able to distinguish between model uncertainties and occurrence of faults. In this paper, we present a passive robust design technique for fault detection and isolation of sensor faults in a steer-by-wire system. The proposed method is based on classic Luenberger observers endowed with adaptive thresholds that are dynamically varying and follow the behavior of the residuals in absence of faults. In the presence of a fault, the residual will cross the adaptive threshold and a flag is activated. Simulation results on a validated vehicle model are reported to demonstrate the effectiveness of the proposed approach.