Integrated fault estimation and fault‐tolerant control for uncertain Lipschitz nonlinear systems

Summary This paper proposes an integrated fault estimation and fault-tolerant control (FTC) design for Lipschitz non-linear systems subject to uncertainty, disturbance, and actuator/sensor faults. A non-linear unknown input observer without rank requirement is developed to estimate the system state and fault simultaneously, and based on these estimates an adaptive sliding mode FTC system is constructed. The observer and controller gains are obtained together via H∞ optimization with a single-step linear matrix inequality (LMI) formulation so as to achieve overall optimal FTC system design. A single-link manipulator example is given to illustrate the effectiveness of the proposed approach. Copyright © 2016 John Wiley & Sons, Ltd.

[1]  P. Frank.  On-line fault detection in uncertain nonlinear systems using diagnostic observers: a survey , 1994 .

[2]  Jianglin Lan,et al.  A new strategy for integration of fault estimation within fault-tolerant control , 2016, Autom..

[3]  Youmin Zhang,et al.  Bibliographical review on reconfigurable fault-tolerant control systems , 2003, Annu. Rev. Control..

[4]  Zhiwei Gao,et al.  Descriptor observer approaches for multivariable systems with measurement noises and application in fault detection and diagnosis , 2006, Syst. Control. Lett..

[5]  Ron J. Patton,et al.  FAULT-TOLERANT CONTROL SYSTEMS: THE 1997 SITUATION , 1997 .

[6]  E. Yaz.  Linear Matrix Inequalities In System And Control Theory , 1998, Proceedings of the IEEE.

[7]  Jian Zhang,et al.  Robust sensor fault estimation and fault-tolerant control for uncertain Lipschitz nonlinear systems , 2014, 2014 American Control Conference.

[8]  Peng Shi,et al.  Fault tolerant control for damaged aircraft based on sliding mode control scheme , 2014 .

[9]  Hong Wang,et al.  Design of fault diagnosis filters and fault-tolerant control for a class of nonlinear systems , 2001, IEEE Trans. Autom. Control..

[10]  Steven X. Ding,et al.  Integrated design of feedback controllers and fault detectors , 2009, Annu. Rev. Control..

[11]  Ke Zhang,et al.  Observer-based integrated robust fault estimation and accommodation design for discrete-time systems , 2010, Int. J. Control.

[12]  A. T. Miller,et al.  An Integrated Approach to Controls and Diagnostics: The 4-Parameter Controller , 1988, 1988 American Control Conference.

[13]  Ali Zemouche,et al.  A robust ℋ∞ observer‐based stabilization method for systems with uncertain parameters and Lipschitz nonlinearities , 2016 .

[14]  M. J. Khosrowjerdi,et al.  Mixed H 2 /H ∞ approach to fault-tolerant controller design for lipschitz non-linear systems , 2011 .

[15]  Zheng Huang,et al.  Output feedback sliding mode FTC for a class of nonlinear inter-connected systems , 2015 .

[16]  Zehui Mao,et al.  Fault-tolerant control for a class of nonlinear sampled-data systems via a Euler approximate observer , 2010, Autom..

[17]  Jie Chen,et al.  Robust Model-Based Fault Diagnosis for Dynamic Systems , 1998, The International Series on Asian Studies in Computer and Information Science.

[18]  Christopher Edwards,et al.  Robust sliding mode observer-based actuator fault detection and isolation for a class of nonlinear systems , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[19]  Mehrdad Saif,et al.  A new approach to robust fault detection and identification , 1993 .

[20]  Vadim I. Utkin,et al.  Sliding Modes in Control and Optimization , 1992, Communications and Control Engineering Series.

[21]  Zhiwei Gao,et al.  Unknown Input Observer-Based Robust Fault Estimation for Systems Corrupted by Partially Decoupled Disturbances , 2016, IEEE Transactions on Industrial Electronics.

[22]  Alberto Isidori,et al.  A Geometric Approach to Nonlinear Fault Detection and Isolation , 2000 .

[23]  Marcel Staroswiecki,et al.  Supervisory fault tolerant control for a class of uncertain nonlinear systems , 2009, Autom..

[24]  Youmin Zhang,et al.  Adaptive Sliding Mode Fault Tolerant Attitude Tracking Control for Flexible Spacecraft Under Actuator Saturation , 2012, IEEE Transactions on Control Systems Technology.

[25]  Marcel Staroswiecki,et al.  Fault Accommodation for Nonlinear Dynamic Systems , 2006, IEEE Transactions on Automatic Control.

[26]  Halim Alwi,et al.  Fault Detection and Fault-Tolerant Control of a Civil Aircraft Using a Sliding-Mode-Based Scheme , 2008, IEEE Transactions on Control Systems Technology.

[27]  Steven X. Ding,et al.  Actuator fault robust estimation and fault-tolerant control for a class of nonlinear descriptor systems , 2007, Autom..

[28]  Qing Zhao,et al.  LMI-based sensor fault diagnosis for nonlinear Lipschitz systems , 2007, Autom..

[29]  Prashant Mhaskar,et al.  Actuator and sensor fault isolation of nonlinear process systems , 2013 .

[30]  Vicenç Puig,et al.  A fault-tolerant control scheme for non-linear discrete-time systems: Application to the twin-rotor system , 2010 .

[31]  Christopher Edwards,et al.  Sliding mode control : theory and applications , 1998 .

[32]  Marios M. Polycarpou,et al.  Fault diagnosis of a class of nonlinear uncertain systems with Lipschitz nonlinearities using adaptive estimation , 2010, Autom..

[33]  Denis Efimov,et al.  Transient management of a supervisory fault-tolerant control scheme based on dwell-time conditions , 2015 .