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Zbl 1128.93389
Yan, Xing-Gang; Edwards, Christopher
Nonlinear robust fault reconstruction and estimation using a sliding mode observer. (English)
[J] Automatica 43, No. 9, 1605-1614 (2007). ISSN 0005-1098

Summary: This paper considers fault detection and estimation issues for a class of nonlinear systems with uncertainty, using an equivalent output error injection approach. A particular design of sliding mode observer is presented for which the parameters can be obtained using LMI techniques. A fault estimation approach is presented to estimate the fault and the estimation error is dependent on the bounds on the uncertainty. For a special class of uncertainty, a fault reconstruction scheme is presented where the reconstructed signal can approximate the fault signal to any accuracy. The proposed fault estimation/reconstruction signals are only based on the available plant input/ouput information and can be calculated on-line. Finally, a simulation study on a robotic arm system is presented to show the effectiveness of the scheme.

MSC 2000:: *93E10 Estimation and detection in stochastic control
93C41 Control problems with incomplete information
93C10 Nonlinear control systems
93B07 Observability

Keywords: nonlinear systems; sliding mode observer; fault reconstruction/estimation; equivalent output injection

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