Robust Fault Estimation With Structured Uncertainty: Scalable Algorithms and Experimental Validation in Automated Vehicles

IF 3.9 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Chris van der Ploeg;Pedro Vieira Oliveira;Emilia Silvas;Peyman Mohajerin Esfahani;Nathan van de Wouw
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引用次数: 0

Abstract

To increase system robustness and autonomy, in this article, we propose a nonlinear fault estimation filter for a class of linear dynamical systems, subject to structured uncertainty, measurement noise, and system delays, in the presence of additive and multiplicative faults. The proposed filter architecture combines tools from model-based control approaches, regression techniques, and convex optimization. The proposed method estimates the additive and multiplicative faults using a linear residual generator combined with nonlinear regression. An offline simulator allows us to numerically characterize the mismatch between an assumed linear model and a range of alternative linear models that exhibit different levels of structured uncertainty. Moreover, we show how the performance bounds of the estimator, valid in the absence of uncertainty, can be used to determine appropriate countermeasures for measurement noise. In the scope of this work, we focus particularly on a fault estimation problem for Society of Automotive Engineers (SAEs) level 4 automated vehicles, which must remain operational in various cases and cannot rely on the driver. The proposed approach is demonstrated in simulations and in an experimental setting, where it is shown that additive and multiplicative faults can be estimated in a real vehicle under the influence of model uncertainty, measurement noise, and delay.
基于结构不确定性的鲁棒故障估计:可扩展算法与自动驾驶车辆的实验验证
为了增加系统的鲁棒性和自主性,在本文中,我们提出了一类线性动态系统的非线性故障估计滤波器,受结构不确定性、测量噪声和系统延迟的影响,存在加性和乘性故障。提出的过滤器架构结合了基于模型的控制方法、回归技术和凸优化的工具。该方法采用线性残差发生器和非线性回归相结合的方法对加性和乘性故障进行估计。离线模拟器允许我们在数值上描述假设的线性模型和一系列表现出不同层次结构不确定性的替代线性模型之间的不匹配。此外,我们还展示了在没有不确定性的情况下,如何使用估计器的性能界限来确定测量噪声的适当对策。在这项工作的范围内,我们特别关注汽车工程师协会(sae) 4级自动驾驶车辆的故障估计问题,这些车辆必须在各种情况下保持运行,不能依赖于驾驶员。该方法在仿真和实验环境中得到了验证,结果表明,在模型不确定性、测量噪声和延迟的影响下,真实车辆的加性和乘性故障可以被估计出来。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
IEEE Transactions on Control Systems Technology
IEEE Transactions on Control Systems Technology 工程技术-工程:电子与电气
CiteScore
10.70
自引率
2.10%
发文量
218
审稿时长
6.7 months
期刊介绍: The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.
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