Fault reconstruction in descriptor linear parameter-varying systems via polytopic unknown-input proportional-integral observers

2014 ◽  
Vol 36 (6) ◽  
pp. 873-888 ◽  
Author(s):  
Qing-Xian Jia ◽  
Ying-Chun Zhang ◽  
Wen Chen ◽  
Hua-Yi Li
Keyword(s):  
Unknown Input ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Proportional Integral ◽  
Linear Parameter Varying Systems ◽  
Fault Reconstruction ◽  
Parameter Varying

scholarly journals Actuator Fault Detection for Unmanned Ground Vehicles Considering Friction Coefficients

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7674
Author(s):  
Gyujin Na ◽  
Yongsoon Eun
Keyword(s):  
Fault Detection ◽  
Detection Method ◽  
Unknown Input ◽  
Actuator Fault ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Linear Parameter Varying Systems ◽  
Similar Work ◽  
Unknown Input Observers ◽  
Parameter Varying

This paper proposes an actuator fault detection method for unmanned ground vehicle (UGV) dynamics with four mecanum wheels. The actuator fault detection method is based on unknown input observers for linear parameter varying systems. The technical novelty of current work compared to similar work in the literature is that wheel frictions are directly taken into account in the dynamics of UGV, and unknown input observers are developed accordingly. Including the wheel friction, the vehicle dynamics are in the form of linear parameter varying systems. Friction estimation is also discussed in this work, and the effect of friction mismatch was quantitatively investigated by simulations. The effectiveness of proposed method was evaluated under various operation scenarios of the UGV.

Fault Reconstruction and Accommodation in Linear Parameter-Varying Systems via Learning Unknown-Input Observers

2015 ◽  
Vol 137 (6) ◽  
Author(s):  
Qingxian Jia ◽  
Wen Chen ◽  
Yingchun Zhang ◽  
Xueqin Chen
Keyword(s):  
Fault Tolerant ◽  
Lyapunov Stability Theory ◽  
Unknown Input ◽  
Actuator Faults ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Fault Reconstruction ◽  
Parameter Varying ◽  
Polytopic Representation ◽  
The Stability

This paper addresses the problem of observer-based fault reconstruction and accommodation for polytopic linear parameter-varying (LPV) systems. A polytopic representation of an LPV system subject to actuator faults and external disturbances is first established; then, a novel polytopic learning unknown-input observer (LUIO) is constructed for simultaneous state estimation and robust fault reconstruction. The stability of the presented LUIO is proved using Lyapunov stability theory together with H∞ techniques. Further, using reconstructed fault information, a reconfigurable fault-tolerant controller is designed to compensate for the influence of actuator faults by stabilizing the closed-loop system. At last, an aircraft example is employed to illustrate the effectiveness and practicability of the proposed techniques.

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