Brief paper: Nonlinear robust fault reconstruction and estimation using a sliding mode observer

Authors:
Xing-Gang Yan;Christopher Edwards
Affiliations:
Department of Engineering, University of Leicester, University Road, Leicester LE1 7RH, UK;Department of Engineering, University of Leicester, University Road, Leicester LE1 7RH, UK
Venue:
Automatica (Journal of IFAC)
Year:
2007

Citing 6
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Abstract

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.