Fault Detection for Automated Straddle Carriers Based on Set-membership Filtering Approach

This paper is concerned with fault detection problem for an automated straddle carrier(ASC). Considering the harsh port environment and unknown-but-bounded(UBB) noise interference, a recursive fault detection algorithm based on set-membership filtering approach is proposed. The algorithm consists of a prediction ellipsoid set and an estimation ellipsoid set. This method determines the fault signal by detecting the existence of intersection between the above sets. Simulation results are provided to demonstrate the effectiveness of the proposed method.