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Robust sliding-mode observer-based sensor fault estimation, actuator fault detection and isolation for uncertain nonlinear systems

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  • Control Theory
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Abstract

This paper deals with the issues of sensor fault estimation, actuator fault detection and isolation for a class of uncertain nonlinear systems. By taking the sensor fault vector as a part of an extended state vector, the original system with sensor faults, actuator faults and unknown inputs is transformed into an augmented singular system which is just with actuator faults and unknown inputs. For the constructed singular system, a robust sliding-mode observer is developed to simultaneously estimate the states and sensor faults of original system, and the observer gain matrices are computed in terms of linear matrix inequalities by solving an optimization problem. Then an actuator fault detector is designed to detect actuator faults when ones occur, and multiple observers used as actuator fault isolators are proposed to identify which actuator is with fault. Finally, a simulation example is given to illustrate the effectiveness of the proposed methods.

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Authors and Affiliations

  1. College of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, 454000, China

    Junqi Yang, Xin Wang & Xuhui Bu

  2. College of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China

    Fanglai Zhu

Authors
  1. Junqi Yang
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  2. Fanglai Zhu
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  3. Xin Wang
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  4. Xuhui Bu
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Corresponding author

Correspondence to Junqi Yang.

Additional information

Recommended by Associate Editor Guang-Hong Yang under the direction of Editor Duk-Sun Shim.

This work is supported by the National Nature Science Foundation of China (61403129). This work is also supported by the Doctoral Fund Program of Henan Polytechnic University (B2015-30), the Fund of Key Laboratory of Control Engineering of Henan Province (KG2014-08), the Project of Henan Province Science and Technology Agency (142102210048), and the Program of Natural Science of Henan Provincial Education Department (13B413028 and 13B413035).

Junqi Yang received his Ph.D. degree in Control Theory and Control Engineering from Tongji University, Shanghai, China, in 2013. He is currently an Associate Professor of Henan Polytechnic University. His research interests include modelbased fault detection, fault-tolerant control and switched system.

Fanglai Zhu received his Ph.D. degree in Control Theory and Control Engineering from Shanghai Jiao Tong University in 2001. Now he is a professor of Tongji University, China. His research interests include nonlinear observer design, system identification, and model-based fault detection and isolation.

Xin Wang received his Ph.D. degree from East China University of Science and Technology in 2005. He is professor of Henan Polytechnic University. His research interests include fault diagnosis, signal processing and electrical drive.

Xuhui Bu received his Ph.D. degree in Control Theory and Application from Beijing Jiaotong University, Beijing, China, in 2011. He is currently an Associate Professor in Henan Polytechnic University, JiaoZuo, China. His research is mainly related to data-driven control, iterative learning control, traffic control, etc.

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Yang, J., Zhu, F., Wang, X. et al. Robust sliding-mode observer-based sensor fault estimation, actuator fault detection and isolation for uncertain nonlinear systems. Int. J. Control Autom. Syst. 13, 1037–1046 (2015). https://doi.org/10.1007/s12555-014-0159-4

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  • DOI: https://doi.org/10.1007/s12555-014-0159-4

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