Reduced-order observer-based fault estimation and fault-tolerant control for a class of discrete Lipschitz nonlinear systems

2016 ◽  
Vol 37 (6) ◽  
pp. 1236-1262 ◽  
Author(s):  
Huaming Qian ◽  
Yu Peng ◽  
Guangyi Yang
Keyword(s):  
Nonlinear Systems ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Fault Estimation ◽  
Reduced Order ◽  
Lipschitz Nonlinear Systems ◽  
Reduced Order Observer

A Note on a Reduced-Order Observer Based Controller for a Class of Lipschitz Nonlinear Systems

2012 ◽  
Vol 135 (1) ◽  
Author(s):  
Mohamadreza Homayounzade ◽  
Mehdi Keshmiri
Keyword(s):  
Nonlinear Systems ◽  
Global Exponential Stability ◽  
Degrees Of Freedom ◽  
Large Range ◽  
Robot Manipulator ◽  
Tracking Error ◽  
Control Law ◽  
Reduced Order ◽  
Lipschitz Nonlinear Systems ◽  
Reduced Order Observer

This paper presents a novel reduced-order observer based controller for a class of Lipschitz nonlinear systems, described by a set of second order ordinary differential equations. The control law is designed based on the measured output and estimated states. The main features are: (1) The computation cost is reduced noticeably, since the observer is a reduced-order one; (2) The controller guarantees semi-global exponential stability for both estimation and tracking error; and (3) The proposed method can be used in a large range of applications, especially in mechanical systems. The effectiveness of the proposed method is investigated through the numerical simulation for a two-degrees-of-freedom robot manipulator acting on a horizontal worktable.

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