Abstract
Residual signal generation is a fundamental step in fault diagnosis and fault tolerant control systems. This paper proposes a switched observer approach to generate a road-adaptive vehicle dynamics residual signal. The main contribution in this paper is to generate a residual signal with low false alarm rate. Lateral vehicle dynamics suffers from presence of two types of disturbances, a stochastic white-noise disturbance and a deterministic lateral dynamics one. Kalman filter and parity-space approach are used to generate the residual signals that must feed the fault tolerant control system. The observers were modeled and simulated in Matlab/Simulink environment, they were then applied to a vehicle dynamics scenarios with lateral disturbances using virtual vehicle simulator (CarMaker).
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