Nonlinear robust fault reconstruction and estimation using a sliding mode observer. (English) Zbl 1128.93389

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.


93E10 Estimation and detection in stochastic control theory
93C41 Control/observation systems with incomplete information
93C10 Nonlinear systems in control theory
93B07 Observability


LMI toolbox
Full Text: DOI


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