Nonlinear parity space applied to an electric autonomous vehicle

Kamel Bouibed , Abdel Aitouche (1) , Mireille Bayart (1)

1 STF - Systèmes Tolérants aux Fautes

The autonomous navigation of an electric vehicle requires the implementation of a number of sensors and actuators intended to inform it about his environment or his position and velocity and deliver necessary inputs. That's why it is important to detect and locate sensor and actuator faults as soon as possible to enable the operator to run the vehicle in degraded mode or use the fault tolerant control system if it exists. The main purpose of this paper deals with sensors or actuators faults diagnosis of autonomous vehicle. A diagnosis method using a nonlinear model of the vehicle is developed. Nonlinear state space model of the autonomous electric vehicle is used with the method of nonlinear analytical redundancy to detect and to isolate faults occurred on sensors or actuators. Computer simulations are carried out to verify the effectiveness of the method.

Mots clés: autonomous electric vehicle; nonlinear systems; fault detection and isolation (FDI); nonlinear analytical redundancy

Domaines: Automatique / Robotique

Kamel Bouibed, Abdel Aitouche, Mireille Bayart. Nonlinear parity space applied to an electric autonomous vehicle. Journal of Energy and Power Engineering, 2009, 3 (12), pp.10-18. ⟨10.1016/EPE09093002⟩. ⟨hal-00804020⟩