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A Robust Fault Estimation Scheme for a Class of Nonlinear Systems
Author(s) -
Chua W. S.,
Tan C. P.,
Aldeen M.,
Saha S.
Publication year - 2017
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1366
Subject(s) - nonlinear system , control theory (sociology) , scheme (mathematics) , fault (geology) , observer (physics) , fault detection and isolation , computer science , estimation , control engineering , engineering , mathematics , control (management) , artificial intelligence , mathematical analysis , physics , systems engineering , quantum mechanics , seismology , geology
This paper presents an observer‐based robust fault estimation scheme for a class of nonlinear systems. We consider the system where the fault enters both the state and output equations via unmeasurable nonlinear functions, for which currently no fault estimation scheme exists. The proposed scheme exploits the special structures and information embedded in the fault‐dependent nonlinear functions. We propose a design method to minimize the ℒ 2 gain from the disturbances to the fault estimation, and provide conditions for the existence of such observers. The effectiveness of this scheme is demonstrated on a nonlinear single‐link flexible joint robot system with disturbances.