A decentralized fault detection filter

We introduce the decentralized fault detection filter which is the structure that results from merging decentralized estimation theory with a game theoretic fault detection filter. A decentralized approach may be the ideal way to health monitor large-scale systems for faults, since it decomposes the problem down into (potentially smaller) “local” problems and then blends the “local” results into a “global” result that describes the health of the entire systems. The benefits of such an approach include added fault tolerance and easy scalability. An example given at the end of the paper demonstrates the use of this filter for a platoon of cars proposed for advanced vehicle control systems