共查询到20条相似文献,搜索用时 15 毫秒
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This paper presents a functional observer scheme using two sliding mode observers in cascade. A coordinate transformation is performed on the system such that existing sliding mode observer theory can be directly applied to achieve functional state estimation. The necessary and sufficient existence conditions for the scheme (in terms of the original system matrices) are also investigated, and they are found to be less stringent than earlier work on functional state estimation using one sliding mode observer; this could have benefits in terms of cost and simplicity. A numerical example verifies the effectiveness of the scheme. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
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In this paper, we propose a discrete‐time nonlinear sliding mode observer for state and unknown input estimations of a class of single‐input/single‐output nonlinear uncertain systems. The uncertainties are characterized by a state‐dependent vector and a scalar disturbance/unknown input. The discrete‐time model is derived through Taylor series expansion together with nonlinear state transformation. A design methodology that combines the discrete‐time sliding mode (DSM) and a nonlinear observer design is adopted, and a strategy is developed to guarantee the convergence of the estimation error to a bound within the specified boundary layer. A relation between sliding mode gain and boundary layer is established for the existence of DSM, and the estimation is made robust to external disturbances and uncertainties. The unknown input or disturbance can also be estimated through the sliding mode. The conditions for the asymptotical stability of the estimation error are analysed. Application to a bioreactor is given and the simulation results demonstrate the effectiveness of the proposed scheme. Copyright © 2006 John Wiley & Sons, Ltd. 相似文献
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Yu-Sheng Lu Chien-Wei Chiu 《International Journal of Control, Automation and Systems》2011,9(2):402-409
This paper presents an integral sliding disturbance observer (I-SDOB) to compensate for unknown disturbances for a class of
nonlinear systems. To guarantee the existence of a sliding mode for disturbance estimation, the proposed I-SDOB needs only
a small switching gain compared with conventional sliding disturbance observers, which leads to further alleviation of chatter.
Moreover, the stability analysis of the controller-observer system is given based on the Lyapunov theory. Applications of
the proposed scheme to a two-link robotic manipulator have been conducted, and experimental results confirm the effectiveness
of the proposed scheme. 相似文献
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《Control Engineering Practice》2002,10(2):207-217
This paper describes the application of sliding mode observation techniques to the problem of fault diagnostics. A specific diesel engine coolant system is considered. A non-linear sliding mode observer is used to monitor the system states. Pertinent system parameters are also monitored using the concept of the equivalent injection signal required to maintain a sliding mode. The parameter estimates from the sliding mode scheme are compared with those generated by a non-linear simulation model and are found to provide good correlation. Results from a laboratory-based power generator set (Genset) are presented to demonstrate the effectiveness of the approach. 相似文献
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The paper describes a theoretical framework for the design of a robust multivariable output tracking controller using sliding mode concepts. The approach assumes that only measured outputs are available and uses a sliding mode observer to reconstruct estimates of the internal system states for use in a full information sliding mode control law. This scheme is applied to a control problem associated with high temperature furnaces. The paper describes the synthesis of the proposed control scheme from design through to implementation on an industrial test facility. © 1997 by John Wiley & Sons, Ltd. 相似文献
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Mou Chen Bin Jiang Chang-sheng Jiang Qing-xian Wu 《Neural computing & applications》2010,19(7):945-951
In this paper, a robust control scheme is proposed for a class of time-delay uncertain nonlinear systems with unknown input
using the sliding mode observer. The sliding mode state observer is given with radial basis function neural networks, and
then the robust control scheme is presented based on the designed sliding mode observer. The developed observer-based control
scheme consists of two parts. One term is a linear controller and the other term is a neural network controller. Using the
Lyapunov method, a criterion for bounded stability of the closed-loop system is developed in terms of linear matrix inequalities.
Finally, a simulation example is used to illustrate the effectiveness of the proposed robust control scheme. 相似文献
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Mohamed Mihoub Ahmed Said Nouri Ridha Ben Abdennour 《Control Engineering Practice》2011,19(10):1216-1222
This paper concerns the chattering elimination from discrete sliding mode observers. The dilemma chattering-precision, that characterizes the first order sliding mode observer in case of relatively large parameter variations and/or external disturbances, is discussed and the influence of the discontinuous term amplitude on the estimation performance is shown by a simulation example. The proposed second order discrete sliding mode observer is, then, introduced. The stability of a closed loop control system based on the proposed observer is analyzed. A real time application of the proposed observer incorporated into a 2-DSMC control loop of a chemical reactor is presented. 相似文献
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Sliding mode estimation schemes for incipient sensor faults 总被引:3,自引:0,他引:3
This paper proposes a new method for the analysis and design of sliding mode observers for sensor fault reconstruction. The proposed scheme addresses one of the restrictions inherent in other sliding mode estimation approaches for sensor faults in the literature (which effectively require the open-loop system to be stable). For open-loop unstable systems, examples can be found, for certain combinations of sensor faults, for which existing sliding mode and unknown input linear observer schemes cannot be employed, to reconstruct faults. The method proposed in this paper overcomes these limitations. Simulation results demonstrate the effectiveness of the design framework proposed in the paper. 相似文献
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Min Li Ming Liu Yingchun Zhang Yunhai Geng 《International journal of systems science》2018,49(7):1353-1367
In this paper, a fault estimation and fault-tolerant control problem for a class of T-S fuzzy stochastic time-delay systems with actuator and sensor faults is investigated. A novel sliding mode observer is proposed, which can simultaneously estimate the system states, actuator and sensor faults with good accuracy. Based on the state and actuator fault estimation, a new sliding mode control scheme is developed, which can effectively eliminate the influence of actuator fault. Sufficient conditions for the existence of the proposed observer and fault-tolerant sliding mode controller are provided in terms of linear matrix inequality, and moreover, the reachability of the sliding mode surface can be guaranteed under the proposed control scheme. The propose sliding mode observer and fault-tolerant sliding mode controller can overcome the restrictive assumption that the input matrix of all local modes is the same. Finally, a numerical example is provided to verify the effectiveness of the proposed sliding mode observer and fault-tolerant sliding mode control technique. 相似文献
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In agricultural context, the principal cause of serious accidents for all-terrain vehicles(ATVs) is rollover. The most important parameters related to this risk is the ground slope. In this paper, we propose a structured observer to estimate the system states and the longitudinal tire forces using only wheel angular velocities measurement. The robust estimation is based on a second order sliding mode observer. This estimation is then used to build up a ground slope estimation. The algorithm is composed by two cascaded estimators. This structured estimation is then applied to the model of an agricultural vehicle G7(GregoireTM) integrated in the driving simulation environment SCANeRTM-Studio. 相似文献
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Mien Van Hee-Jun Kang Young-Soo Suh Kyoo-Sik Shin 《International Journal of Control, Automation and Systems》2013,11(2):377-388
This paper investigates an algorithm for robust fault diagnosis (FD) in uncertain robotic systems by using a neural sliding mode (NSM) based observer strategy. A step by step design procedure will be discussed to determine the accuracy of fault estimation. First, an uncertainty observer is designed to estimate the uncertainties based on a first neural network (NN1). Then, based on the estimated uncertainties, a fault diagnosis scheme will be designed by using a NSM observer which consists of both a second neural network (NN2) and a second order sliding mode (SOSM), connected serially. This type of observer scheme can reduce the chattering of sliding mode (SM) and guarantee finite time convergence of the neural network (NN). The obtained fault estimations are used for fault isolation as well as fault accommodation to self-correct the failure systems. The computer simulation results for a PUMA560 robot are shown to verify the effectiveness of the proposed strategy. 相似文献
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This paper presents a robust actuator fault reconstruction scheme for linear uncertain systems using sliding mode observers. In existing work, fault reconstruction via sliding mode observers is limited to either linear certain systems subject to unknown inputs, relative degree one systems or a specific class of relative degree two systems. This paper presents a new method that is applicable to a wider class of systems with relative degree higher than one, and can also be used for systems with more unknown inputs than outputs. The method uses two sliding mode observers in cascade. Signals from the first observer are processed and used to drive the second observer. Overall, this results in actuator fault reconstruction being feasible for a wider class of systems than using existing methods. A simulation example verifies the claims made in this paper. Copyright © 2007 John Wiley & Sons, Ltd. 相似文献
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Electrical wiring interconnection system (EWIS) of civil aircraft has been paid more attention in recent years, and intermittent failure detection of electrical connectors in EWIS is a challenging problem. This paper presents a sliding mode observer (SMO) approach for the intermittent failure detection of an aircraft electrical system with multiple connector failures. The mathematical model of the aircraft electrical system which contains multiple connector failures is established for transforming the intermittent failure detection problem into observer-based multiplicative faults isolation and estimation problems. A set of adaptive sliding mode observers are designed to locate the failure connectors preliminarily, the observers can adapt the unknown upper bound of the faults. Furthermore, a fault-reconstruction scheme applying the equivalent output error injection principle is proposed for fault estimation, where the characteristic parameters of connecters are reconstructed to identify the failures. Finally, a numerical example is provided to show the effectiveness of the proposed method. 相似文献
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In this paper, a new framework for the synthesis of a class of sliding mode observers for affine linear parameter varying (LPV) systems is proposed. The sliding mode observer is synthesized by selecting the design freedom via linear matrix inequalities ( LMIs ). Posing the problem from a small gain perspective allows existing numerical techniques from the literature to be used for the purpose of synthesizing the observer gains. In particular, the framework allows affine parameter‐dependent Lyapunov functions to be considered for analyzing the stability of the state estimation error dynamics, to help reduce design conservatism. Initially a variable structure observer formulation is proposed, but by imposing further constraints on the LMIs, a stable sliding mode is introduced, which can force and maintain the output estimation error to be zero in finite time. The efficacy of the scheme is demonstrated using an LPV model of the short period dynamics of an aircraft and demonstrates simultaneous asymptotic estimation of the states and disturbances. 相似文献
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In this paper, nano trajectory control of the multilayer low‐voltage PZT (lead zirconate titanate) bender actuator system (MLVPZTBAS) is developed. System analyses in of the hysteresis characteristic, frequency response and sinusoidal response, were conducted to evaluate the system features. Because not all of the states of the MLVPZTBAS are directly available, an observer is required to estimate the states. The proposed scheme contains feedback linearization with a sliding‐mode controller and a state observer to estimate the system states of the MLVPZTBAS. The sliding‐mode control possesses an equivalent control and a switching control. To track a trajectory dominant by a specific frequency, a reference model consisting of desired amplitude and phase features is established. The equivalent control using the signals from the observer and the reference model is designed so as to produce the desired control behavior. Due to the existence of modeling and estimation errors, the switching control is then employed to achieve robust performance. Experiments on the MLVPZTBAS were carried out to verify the usefulness of the proposed control. 相似文献
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The attitude fault‐tolerant control problem for a satellite with reaction‐wheel failures, uncertainties, and unknown external disturbances is investigated in this paper. Firstly, an iterative learning observer (ILO) is proposed to achieve fault detection, isolation, and estimation. Secondly, based on the ILO, a third‐order sliding mode controller is proposed to stabilize the satellite attitude rapidly under unknown external disturbances and reaction‐wheel faults. Thirdly, the asymptotically stability of the ILO and the third‐order sliding mode controller is proved by using the Lyapunov stability theory. Finally, simulation results demonstrate that the proposed control scheme is more effective and feasible by comparing with other fault‐tolerant control approach. 相似文献
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Xing-Gang Yan 《International journal of control》2013,86(4):591-606
In this paper, robust decentralized actuator fault detection and estimation is considered for a class of non-linear large-scale systems. A sliding mode observer is proposed together with an appropriate coordinate transformation to find the sliding mode dynamics. Then, based on the features of the observer, a decentralized fault estimation strategy is proposed using an equivalent output error injection, and a decentralized reconstruction scheme follows by further exploiting the structure of the uncertainty which is allowed to have non-linear bounds. The estimation and reconstruction signals only depend on the available measured information and thus the proposed strategy can work on-line. The theoretical results which have been obtained are applied to an automated highway system. Simulation shows the feasibility and effectiveness of the proposed scheme. 相似文献
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ℋ︁∞ sliding mode observers for uncertain nonlinear Lipschitz systems with fault estimation synthesis
This paper presents a scheme to design robust sliding mode observers(SMO) with ??∞ performance for uncertain nonlinear Lipschitz systems where both faults and disturbances are considered. We study the necessary conditions to achieve insensitivity of the proposed sliding mode observer to the unknown input(fault). The objective is to derive a sufficient condition using linear matrix inequality(LMI) optimization for minimizing the ??∞ gain between the estimation error and disturbances, while at the same time the design method guarantees that the solution of the LMI optimization satisfies the so‐called structural matching condition. The sliding motion affects only a part of the system through a novel reduced‐order sliding mode controller. Furthermore, the so‐called equivalent control concept is discussed for fault estimation. Finally, a numerical example of MCK chaos demonstrates the high performance of the results compared with a pure SMO. Copyright © 2010 John Wiley & Sons, Ltd. 相似文献