Actuator fault detection based on robust adaptive observer for CCBII Braking System

This paper presents a robust adaptive fault estimation design method to solve the problem of actuator fault estimation for CCBII Braking System with disturbances and model uncertainties. The proposed robust adaptive fault estimator which is based on an adaptive observer can improve the speed of fault estimation. By transforming the system model into a special coordinate basis (SCB) form, we can structure the desired observer. This transformation can achieve a decoupling between the fault estimates and the disturbances. As a result, the conventional adaptive observer is improved to enhance the speed of fault estimation through this decoupling. Simulation experiments of CCBII braking system are given to validate the effectiveness of the fault detection method.