Robust Fault Detection for a Spacecraft with Lipschitz Nonlinear System

This paper presents a sliding-mode observer based method of actuator fault detection for a class of Lipschitz nonlinear systems with unknown disturbances. Through equivalent state transformation, the state equation of the system is partitioned into two parts. The first sub-system is involved with both actuator faults and unknown disturbances while the second is only involved with actuator faults. Then we design sliding-mode observer for the first sub-system and linear observer for the second sub-system, respectively. When no actuator faults occur, the observers are able to track the system state asymptotically. And the output error can be viewed as residual to detect the actuator faults. By using such a detection method, the strong conditions to reconstruct the faults based on equivalent output injection can be removed. The simulation results to a simplified dynamics of the High Incidence Research Model spacecraft show that the proposed method is effective.

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