A decentralized fault detection filter

In this paper, we introduce the decentralized fault detection filter, a str ucture that results from merging decentralized estimation theory with the g ame theoretic fault detection filter. A decentralized approach may be the i deal way to health monitor large-scale systems, since it decomposes the pro blem down into (potentially smaller) "local" problems. These local results are then blended into a "global" result that describes the health of the en tire system. The benefits of such an approach include added fault tolerance and easy scalability. An example given at the end of the paper demonstrate s the use of this filter for a platoon of cars proposed for advanced vehicl e control systems.