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Research Papers

Fault, State, and Unknown Input Reconstruction in Nonlinear Systems Using Sliding Mode Observers

[+] Author and Article Information
Sharma R

Department of Mechanical Engineering,  The University of Melbourne, VIC 3010, Australia e-mail: sharmar@unimelb.edu.au

Aldeen M

Department of Electrical and Electronic Engineering  The University of Melbourne, VIC 3010, Australia e-mail: m.aldeen@ee.unimelb.edu.au

J. Dyn. Sys., Meas., Control 133(5), 051013 (Aug 24, 2011) (10 pages) doi:10.1115/1.4004040 History: Received June 23, 2008; Revised January 18, 2011; Published August 24, 2011; Online August 24, 2011

In this paper, a new approach to estimation of unknown inputs and faults in a class of nonlinear systems is presented. The approach is based on the design of a cascade connection of two sliding mode observers. The first observer is used for the estimation of state and unknown inputs and the second is used for the fault detection and isolation. An important feature of the proposed approach is that the state trajectories do not leave the sliding manifold even in the presence of unknown inputs and faults. This allows for faults and unknown inputs to be completely reconstructed based on the information retrieved from the equivalent output injection signals. The proposed approach is tested on a nonlinear model of single link flexible joint robot system.

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Figures

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Figure 1

Cascade connection of two sliding mode observers

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Figure 3

Actual and estimated responses of (a) z1(1) and (b) z2(1))

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Figure 4

Actual and estimated responses of (a) z1(2) and (b) z2(2)

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Figure 5

Actual and estimated responses of (a) z1(3) and (b) z2(3)

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Figure 6

Actual and estimated responses of (a) ξ and (b) μ

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