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Robust identification for fault detection in the presence of non-Gaussian noises: application to hydraulic servo drives

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Abstract

Intensive research in the field of mathematical modeling of hydraulic servo systems has shown that their mathematical models have many important details which cannot be included in the model. Due to impossibility of direct measurement or calculation of dimensions of certain components, leakage coefficients or friction coefficients, it was supposed that parameters of the hydraulic servo system are random. On the other side, it has been well known that the hydraulic servo system can be approximated by a linear model with time-varying parameters. An estimation of states and time-varying parameters of linear state-space models is of practical importance for fault diagnosis and fault-tolerant control. Previous works on this topic consider estimation in Gaussian noise environment, but not in the presence of outliers. The known fact is that the measurements have inconsistent observations with the largest part of the observation population (outliers). They can significantly make worse the properties of linearly recursive algorithms which are designed to work in the presence of Gaussian noises. This paper proposes the strategy of parameter–state robust estimation of linear state-space models in the presence of all possible faults and non-Gaussian noises. Because of its good features in robust filtering, Masreliez–Martin filter represents a cornerstone for realization of the robust algorithm. The good features of the proposed robust algorithm to identification of the hydraulic servo system are illustrated by intensive simulations.

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Acknowledgements

The authors would like to express their gratitude to reviewers for their valuable and constructive comments to improve this paper. This research has been supported by the Serbian Ministry of Education, Science and Technological Development under Grant 451-03-68/2020-14/200108.

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Authors and Affiliations

  1. Department of Automatic Control, Robotics and Fluid Technique, Faculty of Mechanical and Civil Engineering in Kraljevo, University of Kragujevac, Dositejeva 19, Kraljevo, 36000, Serbia

    Vladimir Stojanovic & Dragan Prsic

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  1. Vladimir Stojanovic
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  2. Dragan Prsic
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Correspondence to Vladimir Stojanovic.

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Stojanovic, V., Prsic, D. Robust identification for fault detection in the presence of non-Gaussian noises: application to hydraulic servo drives. Nonlinear Dyn 100, 2299–2313 (2020). https://doi.org/10.1007/s11071-020-05616-4

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