Reduced-Order Observer-Based Robust Fault Estimation for a Class of Uncertain Nonlinear Systems

2018 ◽  
Author(s):  
Yu Peng ◽  
Gang Xiang
Keyword(s):  
Nonlinear Systems ◽  
Fault Estimation ◽  
Uncertain Nonlinear Systems ◽  
Reduced Order ◽  
Reduced Order Observer

scholarly journals Invariant Manifold Based Reduced-Order Observer Design for Nonlinear Systems

2008 ◽  
Vol 53 (11) ◽  
pp. 2602-2614 ◽  
Author(s):  
Dimitrios Karagiannis ◽  
Daniele Carnevale ◽  
Alessandro Astolfi
Keyword(s):  
Nonlinear Systems ◽  
Invariant Manifold ◽  
Observer Design ◽  
Reduced Order ◽  
Reduced Order Observer

A Note on a Reduced-Order Observer Based Controller for a Class of Lipschitz Nonlinear Systems

2012 ◽  
Vol 135 (1) ◽  
Author(s):  
Mohamadreza Homayounzade ◽  
Mehdi Keshmiri
Keyword(s):  
Nonlinear Systems ◽  
Global Exponential Stability ◽  
Degrees Of Freedom ◽  
Large Range ◽  
Robot Manipulator ◽  
Tracking Error ◽  
Control Law ◽  
Reduced Order ◽  
Lipschitz Nonlinear Systems ◽  
Reduced Order Observer

This paper presents a novel reduced-order observer based controller for a class of Lipschitz nonlinear systems, described by a set of second order ordinary differential equations. The control law is designed based on the measured output and estimated states. The main features are: (1) The computation cost is reduced noticeably, since the observer is a reduced-order one; (2) The controller guarantees semi-global exponential stability for both estimation and tracking error; and (3) The proposed method can be used in a large range of applications, especially in mechanical systems. The effectiveness of the proposed method is investigated through the numerical simulation for a two-degrees-of-freedom robot manipulator acting on a horizontal worktable.

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