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Fault Tolerant Consensus for Vehicle State Estimation: A Cyber-Physical Approach
Univ Waterloo, Dept Mech & Mechatron Engn, Waterloo, ON N2L 3G1, Canada..
KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
Univ Waterloo, Dept Mech & Mechatron Engn, Waterloo, ON N2L 3G1, Canada..
Univ Waterloo, Dept Mech & Mechatron Engn, Waterloo, ON N2L 3G1, Canada..ORCID-id: 0000-0002-5333-0201
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2019 (engelsk)Inngår i: IEEE Transactions on Industrial Informatics, ISSN 1551-3203, E-ISSN 1941-0050, Vol. 15, nr 9, s. 5129-5138Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

A novel cyber physical method is proposed and experimentally verified for reliable distributed estimation of vehicle longitudinal velocity, robustly to road friction condition variations. In this method, the vehicle speed estimated at each of the four corners of the vehicle, using a linear parameter-varying observer in the physical layer, and speed data measured by a conventional low-cost GPS are incorporated in a distributed structure (in the cyber layer) to enhance the reliability of the estimate. The method minimizes a cost function quantizing the effect of disturbances on each corner's estimation and adversaries due to occasional GPS signal drops. A fault-tolerant estimation policy is integrated to deal with large deviations in corner estimations, which have unexpectedly high levels of confidence. The main advantages of the proposed method are increased reliability on various road surface conditions and robustness to faults, as confirmed by road tests. Several experimental tests, including lane change and low-excitation maneuvers, with various powertrain configurations on dry and slippery roads demonstrate the efficiency of the algorithm.

sted, utgiver, år, opplag, sider
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC , 2019. Vol. 15, nr 9, s. 5129-5138
Emneord [en]
Cyber physical systems, distributed estimation, fault tolerance, robust consensus, reliable speed estimation, robust observer design
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Identifikatorer
URN: urn:nbn:se:kth:diva-262983DOI: 10.1109/TII.2019.2898170ISI: 000489584600027OAI: oai:DiVA.org:kth-262983DiVA, id: diva2:1367005
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QC 20191031

Tilgjengelig fra: 2019-10-31 Laget: 2019-10-31 Sist oppdatert: 2019-10-31bibliografisk kontrollert

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