Experimental application of extended Kalman filtering for sensor validation

Author

Gobbo, Diego Del ; Napolitano, Marcello ; Famouri, Parviz ; Innocenti, Mario

Author_Institution

Dept. of Mech. & Aerosp. Eng., West Virginia Univ., Morgantown, WV, USA

Volume

9

Issue

2

fYear

2001

fDate

3/1/2001 12:00:00 AM

Firstpage

376

Lastpage

380

Abstract

A sensor failure detection and identification scheme for a closed loop nonlinear system is described. Detection and identification tasks are performed by estimating parameters directly related to potential failures. An extended Kalman filter is used to estimate the fault-related parameters, while a decision algorithm based on threshold logic processes the parameter estimates to detect possible failures. For a realistic evaluation of its performance, the detection scheme has been implemented on an inverted pendulum controlled by real-time control software. The failure detection and identification scheme is tested by applying different types of failures on the sensors of the inverted pendulum. Experimental results are presented to validate the effectiveness of the approach

Keywords

Kalman filters; fault diagnosis; filtering theory; nonlinear systems; parameter estimation; pendulums; threshold logic; Kalman filtering; closed loop system; fault diagnosis; identification; inverted pendulum; nonlinear system; parameter estimation; sensor failure detection; sensor validation; threshold logic; Fault detection; Filtering; Kalman filters; Logic; Nonlinear systems; Parameter estimation; Sensor phenomena and characterization; Sensor systems; Software performance; Testing;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.911389

Filename

911389