Vehicle Fault Detection and Isolation (Collins - Intelligent Control Architectures)
Problem: Determine whether a key component (e.g., a sensor) in an autonomous ground vehicle is malfunctioning or has failed (detection) and then determine the component that has the fault (isolation). (Then reconfigure the control system appropriately.)
Solution: Use analytical redundancy, i.e, a computer-based model of the system and use the residual (r) information for fault detection and isolation. (Then, switch to a more appropriate control system.)