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Multi-sensor Fault Detection and Isolation for EMB SystemBased on Unknown Input Observer

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Figure

Fig. 1.Schematic diagram of multi-sensor fault detection and isolationwith UIO for EMB system
Table 1. EMB system parameters for simulations
Fig. 4. Simulation results of EMB system without any sensor faults: (a) the reference clamping force (b) the clamping force estimator output (c) the  motor current sensor output (d) the motor speed sensor output (e) primary residual (f) secondary residual1 (g) secondary residual2 (h) fault detection result for current sensor (i) fault detection result for speed sensor
Fig. 5Simulation results of EMB system with the motor current fault from 0.6s to 1.2 and motor speed sensor fault from 0.8s to 1.4s (a) the reference clamping force (b) the clamping force estimator output (c) the motor current sensor output (d) the motor speed sensor output (e) primary residual (f) secondary residual1 (g) secondary residual2 (h) fault detection result for current sensor (i) fault detection result for speed sensor

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