This paper presents a novel analytical redundancy technique for fault diagnostics of a differential brake control system. The proposed diagnostic algorithm builds upon open loop and closed loop state estimators to generate residuals and identify failures. By judiciously utilizing the residual information, it is possible to detect faults at the component level rather than at the system level. In addition, robust and adaptive estimators are shown to effectively combat with two perennial nuisances of fault diagnostic algorithms: sensitivity to disturbance and false alarms. Hardware-in-the-loop simulation studies show how reliably the proposed diagnostic algorithm detects faults in the differential brake control system that is expected to play a crucial role in active vehicle safety.
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