Automatica (Journal of IFAC)
Identification of time-varying systems with abrupt parameter changes
Automatica (Journal of IFAC)
Adaptation and Learning in Automatic Systems
Adaptation and Learning in Automatic Systems
Approximating networks and extended Ritz method for the solution of functional optimization problems
Journal of Optimization Theory and Applications
Bounds on rates of variable-basis and neural-network approximation
IEEE Transactions on Information Theory
Comparison of worst case errors in linear and neural network approximation
IEEE Transactions on Information Theory
International Journal of Systems Science - Advances in Sliding Mode Observation and Estimation (Part Two)
A neural-fuzzy sliding mode observer for robust fault diagnosis
ACC'09 Proceedings of the 2009 conference on American Control Conference
IEEE Transactions on Neural Networks
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A model-based method to detect faults in nonlinear systems is proposed. Fault diagnosis is accomplished by means of a bank of estimators, which provide estimates of parameters that describe actuator, plant, and sensor faults. These estimators perform according to a receding-horizon strategy and are designed using models of the failures. The problem of designing such estimators for general nonlinear systems is solved by searching for optimal estimation functions. These functions are approximated by feedforward neural networks and the problem is reduced to find the optimal neural weights. The learning can be split into two phases. In the first one, any possible "a priori" knowledge on the statistics of the random variables is used to initialize the neural estimation functions off line. In the second one, the optimization (or training) continues on line. Both off and on line learning rely on stochastic approximation. The performances obtained in the estimation of the fault parameters by the proposed neural estimators and by the extended Kalman filters are compared by means of simulations with an application to underwater robotics.