Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Fault Tolerant Consensus for Vehicle State Estimation: A Cyber-Physical Approach
Univ Waterloo, Dept Mech & Mechatron Engn, Waterloo, ON N2L 3G1, Canada..
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
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
Show others and affiliations
2019 (English)In: IEEE Transactions on Industrial Informatics, ISSN 1551-3203, E-ISSN 1941-0050, Vol. 15, no 9, p. 5129-5138Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC , 2019. Vol. 15, no 9, p. 5129-5138
Keywords [en]
Cyber physical systems, distributed estimation, fault tolerance, robust consensus, reliable speed estimation, robust observer design
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-262983DOI: 10.1109/TII.2019.2898170ISI: 000489584600027OAI: oai:DiVA.org:kth-262983DiVA, id: diva2:1367005
Note

QC 20191031

Available from: 2019-10-31 Created: 2019-10-31 Last updated: 2019-10-31Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full text

Authority records BETA

Pirani, Mohammad

Search in DiVA

By author/editor
Pirani, MohammadFidan, Baris
By organisation
Automatic Control
In the same journal
IEEE Transactions on Industrial Informatics
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 2 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf