A constructive method for designing fault detection filter with application to a three-wheeled vehicle

In this paper, we propose a constructive method for designing a class of fault detection filter for nonlinear affine systems, assuming all states are observable. Firstly we formulate the problem in terms of the geometric conditions. And for symmetrically affine systems without control inputs, we derive the necessary and sufficient condition for the existence of the fault detection filter and propose the constructive method. Then this approach is extended to affine systems with control inputs. Finally we demonstrate the effectiveness of the proposed method for a three wheeled vehicle.