On the adaptive control of robot manipulators
International Journal of Robotics Research
A skew-symmetric property of rigid-body systems
Systems & Control Letters
Brief paper: LMI-based sensor fault diagnosis for nonlinear Lipschitz systems
Automatica (Journal of IFAC)
Multisensor switching control strategy with fault tolerance guarantees
Automatica (Journal of IFAC)
A time domain approach to robust fault detection of linear time-varying systems
Automatica (Journal of IFAC)
Brief paper: Sliding mode estimation schemes for incipient sensor faults
Automatica (Journal of IFAC)
| Hi-index | 22.14 |
In this contribution we investigate the problem of simultaneous observer based sensor fault reconstruction and state estimation of a class of linear time-varying (LTV) systems that are skew-symmetric models. The main features concern the use of a bank of observers to detect and isolate faulty sensors and in the same time provide unbiased state estimation. On the other hand, we introduced a switching gain technique to deal with singular points. Stability analysis is achieved thanks to the Barbalat's lemma and without solving the well-known time-varying Sylvester equation. The proposed approach is extended to more general LTV systems of any order.