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

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 arc...

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Bibliographic Details
Published in:	IEEE transactions on control systems technology Vol. 33; no. 5; pp. 1651 - 1666
Main Authors:	van der Ploeg, Chris, Vieira Oliveira, Pedro, Silvas, Emilia, Mohajerin Esfahani, Peyman, van de Wouw, Nathan
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.09.2025 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Accuracy Automated vehicles Automation Autonomous vehicles convex optimization Convexity Data models Delays Dynamical systems Estimation Fault detection fault estimation Faults model uncertainty Noise Noise measurement Observers Safety Uncertainty
ISSN:	1063-6536, 1558-0865
Online Access:	Get full text
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