Fault diagnostic system design using LMIs, with applications to health monitoring for GPS-based lateral vehicle control

Rajesh Rajamani, Ankur Shrivastava

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper develops an explicit design methodology for development of observer-based sensor health monitoring systems using Linear Matrix Inequalities. The developed methodology applies to linear parameter-varying systems with three or more sensors in which the state is observable through any one of the sensors. A fault in any of the system sensors can be uniquely identified by the diagnostic system. The developed methodology is applied to health monitoring of the lateral sensors on a GPS-controlled truck. A set of three sensors on the truck consisting of a GPS system, a lateral accelerometer and a yaw-rate gyroscope is considered. The performance of the fault diagnostic system is documented from extensive experimental results. Experimental results show that the fault diagnostic system can correctly detect a failure in any of the 3 sensors and accurately identify the source of the fault.

Original languageEnglish (US)
Title of host publicationASME International Mechanical Engineering Congress and Exposition, Proceedings
Pages1729-1737
Number of pages9
Volume2
StatePublished - Dec 1 2001
Event2001 ASME International Mechanical Engineering Congress and Exposition - New York, NY, United States
Duration: Nov 11 2001Nov 16 2001

Other

Other2001 ASME International Mechanical Engineering Congress and Exposition
CountryUnited States
CityNew York, NY
Period11/11/0111/16/01

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Rajamani, R., & Shrivastava, A. (2001). Fault diagnostic system design using LMIs, with applications to health monitoring for GPS-based lateral vehicle control. In ASME International Mechanical Engineering Congress and Exposition, Proceedings (Vol. 2, pp. 1729-1737)