Proceedings ArticleDOI
Output-Only Fault Detection and Mitigation of Networks of Autonomous Vehicles
Abdelrahman Khalil,Mohammad Al Janaideh,Khaled F. Aljanaideh,Deepa Kundur +3 more
- pp 2257-2264
TLDR
In this article, the authors proposed a transmissibility-based health monitoring approach for fault detection in an autonomous vehicle platoon, where a sliding mode controller is used to mitigate the failure of either a physical component of a vehicle or a communication link between two vehicles.Abstract:
An autonomous vehicle platoon is a network of autonomous vehicles that communicate together to move in a desired way. One of the greatest threats to the operation of an autonomous vehicle platoon is the failure of either a physical component of a vehicle or a communication link between two vehicles. This failure affects the safety and stability of the autonomous vehicle platoon. Transmissibility-based health monitoring uses available sensor measurements for fault detection under unknown excitation and unknown dynamics of the network. After a fault is detected, a sliding mode controller is used to mitigate the fault. Different fault scenarios are considered including vehicle internal disturbances, cyber attacks, and communication delays. We apply the proposed approach to a bond graph model of the platoon and an experimental setup consisting of three autonomous robots.read more
Citations
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Proceedings ArticleDOI
Transmissibility-based DAgger For Fault Classification in Connected Autonomous Vehicles
TL;DR: In this paper , the authors proposed using transmissibility operators, which are relationships that relate a set of velocities with another in the platoon, to classify the faults in CAV platoon.
Proceedings ArticleDOI
Fault Detection on a Class of Robotic Manipulators using Time-variant Transmissibilities
TL;DR: In this article , a recursive least squares algorithm is used to optimize what time-variant dynamics to include in the transmissibility operator and what dynamics to push to the system nonlinearities over time.
Proceedings ArticleDOI
Fault Detection on a Class of Robotic Manipulators using Time-variant Transmissibilities
TL;DR: In this article , a recursive least squares algorithm is used to optimize what time-variant dynamics to include in the transmissibility operator and what dynamics to push to the system nonlinearities over time.
References
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