This paper proposes a robust fault diagnosis method for Autonomous Ground Vehicles (AGVs) modeled as a Linear Parameter Varying (LPV) system with bounded uncertainties. The proposed approach combines the zonotope-based Set-Membership Approach (SMA) and Set Invariance Approach (SIA). Firstly, an online fault detection strategy based on zonotopic set-membership state estimation is introduced, where the optimal observer gain is calculated offline by solving LMI optimization problems. To characterize the Minimum Detectable Fault (MDF) and Minimum Isolable Fault (MIF), the invariant residual sets are first obtained for the system operated in healthy and faulty modes. The proposed method relies on the propagation of the zonotopic state estimation error in steady state based on SIA. Then, MDF and MIF are characterized for several types of faults by solving optimization problems subject to set separation conditions. Finally, experiment validations using a prototype vehicle are performed to illustrate the effectiveness of the proposed approach.

© 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

This work was supported in part by Spanish State Research Agency (AEI), in part by European Regional Development Fund (ERFD) through the Project SaCoAV under Grant MINECO PID2020- 114244RB-I00, and in part by Chinese Scholarship Council (CSC) under Grant 202006120006.

Peer Reviewed