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Disturbance decoupled fault reconstruction using cascaded sliding mode observers |
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| Authors: | Kok Yew Ng Chee Pin Tan Denny Oetomo |
| Affiliation: | 1. School of Engineering, Monash University Sunway campus, Jalan Lagoon Selatan, Sunway 46150, Malaysia;2. Department of Mechanical Engineering, University of Melbourne, Parkville, Victoria 3010, Australia;1. Department of Civil Engineering, University of Applied Sciences Erfurt, Altonaer Str. 25, 99085 Erfurt, Germany;2. The Australian Centre for Field Robotics, The Rose Street Building, J04, The University of Sydney, 2006, NSW, Australia;3. Institute of Mathematics, University of Würzburg, Emil-Fischer-Str. 40, 97074 Würzburg, Germany;1. School of Engineering, Ulster University, United Kingdom;2. School of Computer Science, University College Dublin, Ireland;3. Southern Health and Social Care Trust, Northern Ireland, United Kingdom;4. School of Computing, Ulster University, United Kingdom |
| Abstract: | This paper presents a disturbance decoupled fault reconstruction (DDFR) scheme using cascaded sliding mode observers (SMOs). The processed signals from a SMO are found to be the output of a fictitious system which treats the faults and disturbances as inputs; the ‘outputs’ are then fed into the next SMO. This process is repeated until the attainment of a fictitious system which satisfies the conditions that guarantee DDFR. It is found that this scheme is less restrictive and enables DDFR for a wider class of systems compared to previous work when only one or two SMOs were used. This paper also presents a systematic routine to check for the feasibility of the scheme and to calculate the required number of SMOs from the outset and also to design the DDFR scheme. A design example verifies its effectiveness. |
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