ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Fault estimation for nonlinear dynamical systems based on unknown input observer
Received date: 2014-11-13
Revised date: 2015-03-06
Online published: 2015-12-08
Supported by
National Natural Science Foundation of China (61473306)
Actuator fault estimation for a class of nonlinear dynamical systems with disturbance is considered, and an unknown input observer is proposed to fulfill fault estimation. Firstly, the original nonlinear dynamical system is turned into appropriate form by the coordinate transformations. Secondly, an H∞ output feedback controller and an unknown input observer are designed by the linear matrix inequalities and the Lyapunov function respectively. Based on that, the actuator fault estimation for the system is achieved. Finally, simulation for manipulators is displayed to illustrate the effectiveness of the proposed method. Compared with the previous methods, the proposed method does not require that faults should be derivable and the upper bound of faults or disturbance is not necessarily required. The proposed method can be used to fulfill the actuator fault estimation for nonlinear dynamical systems in engineering practice easily.
HU Zhenggao , ZHAO Guorong , ZHOU Dawang . Fault estimation for nonlinear dynamical systems based on unknown input observer[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015 , 36(11) : 3687 -3697 . DOI: 10.7527/S1000-6893.2015.0067
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