scholarly journals An H∞ sliding mode observer for Takagi–Sugeno nonlinear systems with simultaneous actuator and sensor faults An

2015 ◽  
Vol 25 (3) ◽  
pp. 547-559 ◽  
Author(s):  
Ali Ben Brahim ◽  
Slim Dhahri ◽  
Fayçal Ben Hmida ◽  
Anis Sellami
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode ◽  
Design Method ◽  
Estimation Error ◽  
Sliding Mode Observer ◽  
Linear Matrix ◽  
Sensor Faults ◽  
Fault Reconstruction ◽  
The Stability ◽  
Takagi Sugeno

Abstract This paper considers the problem of robust reconstruction of simultaneous actuator and sensor faults for a class of uncertain Takagi-Sugeno nonlinear systems with unmeasurable premise variables. The proposed fault reconstruction and estimation design method with H∞ performance is used to reconstruct both actuator and sensor faults when the latter are transformed into pseudo-actuator faults by introducing a simple filter. The main contribution is to develop a sliding mode observer (SMO) with two discontinuous terms to solve the problem of simultaneous faults. Sufficient stability conditions in terms linear matrix inequalities are achieved to guarantee the stability of the state estimation error. The observer gains are obtained by solving a convex multiobjective optimization problem. Simulation examples are given to illustrate the performance of the proposed observer

scholarly journals Robust Fault Estimation and Fault-Tolerant Control Based on Sliding Mode Observer for Takagi–Sugeno Fuzzy Systems Subject to Actuator and Sensor Faults

2020 ◽  
Vol 9 (8) ◽  
pp. 145-154
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Sufficient Conditions ◽  
Fault Tolerant Control ◽  
Lyapunov Stability Theory ◽  
Sliding Mode Observer ◽  
Fault Estimation ◽  
Linear Matrix ◽  
Sensor Faults ◽  
Takagi Sugeno

In this paper, the problems of fault estimation and fault-tolerant control for Takagi-Sugeno fuzzy system affected by simultaneous actuator faults, sensor faults and external disturbances are investigated. Firstly, an adaptive fuzzy sliding-mode observer is designed to simultaneously estimate system states and both actuator and sensor faults. Then, based on the online estimation information, a static output feedback fault-tolerant controller is designed to compensate for the effect of faults and to stabilize the closed-loop system. Moreover, sufficient conditions for the existence of the proposed observer and controller with an H∞ performance are derived based on Lyapunov stability theory and expressed in terms of linear matrix inequalities. Finally, a nonlinear inverted pendulum with cart system application is given illustrate the validity of the proposed method.

Robust sliding mode observer design for simultaneous fault reconstruction in perturbed Takagi-Sugeno fuzzy systems using non-quadratic stability analysis

2020 ◽  
Vol 26 (11-12) ◽  
pp. 1092-1105
Author(s):  
Samira Asadi ◽  
Alireza Khayatian ◽  
Maryam Dehghani ◽  
Navid Vafamand ◽  
Mohammad Hassan Khooban
Keyword(s):  
Lyapunov Function ◽  
Fault Detection ◽  
Sliding Mode ◽  
Sliding Mode Observer ◽  
Observer Design ◽  
Performance Criteria ◽  
Linear Matrix ◽  
Quadratic Lyapunov Function ◽  
Fault Reconstruction ◽  
Takagi Sugeno

Appearing faults in a practical system is dispensable, and if it is not compensated, it results in poor system performance or even dysfunction of the system. The fault detection has become a promising challenging issue to guarantee the safety and reliability of systems. In this paper, a novel fuzzy-based sliding mode observer for the simultaneous actuator and sensor fault reconstruction of nonlinear systems subjected to external disturbance is proposed. The proposed approach employs the Takagi-Sugeno fuzzy model, sliding mode observer and non-quadratic Lyapunov function. First, by filtering the system output, a fictitious system whose actuator faults are the original actuator and sensor faults is constructed. Then, by considering the [Formula: see text] performance criteria, the effect of disturbance on the state estimations is minimized. It is proved that the estimations asymptotically converge to their actual values for non-perturbed systems. In the process of designing the observer gains, some transformation matrices are obtained by solving linear matrix inequalities. The proposed approach has some superiority over the existing methods. First, considering the non-quadratic Lyapunov function leads to relaxed results and good estimation performance. Second, using the sliding mode observer makes the proposed approach insensitive to the uncertainties and unknown inputs and determines the shape and size of the fault. Third, assuming the premise variables are immeasurable makes the presented approach more applicable. In conclusion, two practical systems are considered and simulation results illustrate the merits of the proposed approach in comparison with the recent methods from the fast and precise fault detection performance viewpoints.

scholarly journals Simultaneous state and fault estimation for Takagi-Sugeno implicit models with Lipschitz constraints

2021 ◽  
Vol 11 (1) ◽  
pp. 100-108
Author(s):  
Manal Ouzaz ◽  
Abdellatif El Assoudi ◽  
Jalal Soulami ◽  
El Hassane El Yaagoubi
Keyword(s):  
Estimation Error ◽  
The State ◽  
Lyapunov Theory ◽  
Observer Design ◽  
Fault Estimation ◽  
Linear Matrix ◽  
Sensor Faults ◽  
Algebraic Equations ◽  
The Stability ◽  
Takagi Sugeno

This paper presents a state and fault observer design for a class of Takagi-Sugeno implicit models (TSIMs) with unmeasurable premise variables satisfying the Lipschitz constraints. The fault variable is constituted by the actuator and sensor faults. The actuator fault affects the state and the sensor fault affects the output of the system. The approach is based on the separation between dynamic and static relations in the TSIM. Firstly, the method begins by decomposing the dynamic equations of the algebraic equations. Secondly, the fuzzy observer design that satisfies the Lipschitz conditions and permits to estimate simultaneously the unknown states, actuator and sensor faults is developed. The aim of this approach for the observer design is to construct an augmented model where the fault variable is added to the state vector. The exponential convergence of the state estimation error is studied by using the Lyapunov theory and the stability condition is given in term of only one linear matrix inequality (LMI). Finally, numerical simulation results are given to highlight the performances of the proposed method by using a TSIM of a single-link flexible joint robot.

scholarly journals Actuator Saturated Fuzzy Controller Design for Interval Type-2 Takagi-Sugeno Fuzzy Models with Multiplicative Noises

Processes ◽  
2021 ◽  
Vol 9 (5) ◽  
pp. 823
Author(s):  
Wen-Jer Chang ◽  
Yu-Wei Lin ◽  
Yann-Horng Lin ◽  
Chin-Lin Pen ◽  
Ming-Hsuan Tsai
Keyword(s):  
Nonlinear Systems ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Actuator Saturation ◽  
Design Method ◽  
Fuzzy Model ◽  
The Stability ◽  
Interval Type ◽  
Takagi Sugeno

In many practical systems, stochastic behaviors usually occur and need to be considered in the controller design. To ensure the system performance under the effect of stochastic behaviors, the controller may become bigger even beyond the capacity of practical applications. Therefore, the actuator saturation problem also must be considered in the controller design. The type-2 Takagi-Sugeno (T-S) fuzzy model can describe the parameter uncertainties more completely than the type-1 T-S fuzzy model for a class of nonlinear systems. A fuzzy controller design method is proposed in this paper based on the Interval Type-2 (IT2) T-S fuzzy model for stochastic nonlinear systems subject to actuator saturation. The stability analysis and some corresponding sufficient conditions for the IT2 T-S fuzzy model are developed using Lyapunov theory. Via transferring the stability and control problem into Linear Matrix Inequality (LMI) problem, the proposed fuzzy control problem can be solved by the convex optimization algorithm. Finally, a nonlinear ship steering system is considered in the simulations to verify the feasibility and efficiency of the proposed fuzzy controller design method.

Robust actuator and sensor fault reconstruction of wind turbine using modified sliding mode observer

2018 ◽  
Vol 41 (6) ◽  
pp. 1504-1518 ◽  
Author(s):  
Mostafa Rahnavard ◽  
Moosa Ayati ◽  
Mohammad Reza Hairi Yazdi
Keyword(s):  
Fault Diagnosis ◽  
Wind Turbine ◽  
Rotational Speed ◽  
Sliding Mode ◽  
Sliding Mode Observer ◽  
Sensor Faults ◽  
Actuator Faults ◽  
Fault Reconstruction ◽  
Different Order ◽  
Aerodynamic Torque

This paper proposes a robust fault diagnosis scheme based on modified sliding mode observer, which reconstructs wind turbine hydraulic pitch actuator faults as well as simultaneous sensor faults. The wind turbine under consideration is a 4.8 MW benchmark model developed by Aalborg University and kk-electronic a/s. Rotor rotational speed, generator rotational speed, blade pitch angle and generator torque have different order of magnitudes. Since the dedicated sensors experience faults with quite different values, simultaneous fault reconstruction of these sensors is a challenging task. To address this challenge, some modifications are applied to the classic sliding mode observer to realize simultaneous fault estimation. The modifications are mainly suggested to the discontinuous injection switching term as the nonlinear part of observer. The proposed fault diagnosis scheme does not require know the exact value of nonlinear aerodynamic torque and is robust to disturbance/modelling uncertainties. The aerodynamic torque mapping, represented as a two-dimensional look up table in the benchmark model, is estimated by an analytical expression. The pitch actuator low pressure faults are identified using some fault indicators. By filtering the outputs and defining an augmented state vector, the sensor faults are converted to actuator faults. Several fault scenarios, including the pitch actuator low pressure faults and simultaneous sensor faults, are simulated in the wind turbine benchmark in the presence of measurement noises. Simulation results show that the modified observer immediately and faithfully estimates the actuator faults as well as simultaneous sensor faults with different order of magnitudes.

scholarly journals Sliding Mode Observers Based-Simultaneous Actuator and Sensor Faults Estimation for Linear Parameter Varying Systems

2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
Ali Ben Brahim ◽  
Slim Dhahri ◽  
Fayçal Ben Hmida ◽  
Anis Sallami
Keyword(s):  
Sliding Mode ◽  
Estimation Error ◽  
Sufficient Conditions ◽  
Linear Matrix ◽  
Sensor Faults ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Parameter Varying ◽  
System States ◽  
Sliding Mode Observers

This paper proposes a scheme to estimate actuator and sensor faults simultaneously for a class of linear parameter varying system expressed in polytopic structure where its parameters evolve in the hypercube domain. Transformed coordinate system design is adopted to decouple faults in actuators and sensors during the course of the system’s operation coincidentally, and then two polytopic subsystems are constructed. The first subsystem includes the effect of actuator faults but is free from sensor faults and the second one is affected only by sensor faults. The main contribution is to conceive two polytopic sliding mode observers in order to estimate the system states and actuator and sensor faults at the same time. Meanwhile, in linear matrix inequality optimization formalism, sufficient conditions are derived withH∞performances to guarantee the stability of estimation error and to minimize the effect of disturbances. Therefore, all parameters of observers can be designed by solving these conditions. Finally, simulation results are given to illustrate the effectiveness of the proposed simultaneous actuator and sensor faults estimation.

Robust dynamic sliding mode observer design for a class of nonlinear systems

2020 ◽  
pp. 014233122095220
Author(s):  
Mahnoosh Shajiee ◽  
Seyed Kamal Hosseini Sani ◽  
Mohammad Bagher Naghibi-Sistani ◽  
Saeed Shamaghdari
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode ◽  
Lipschitz Constant ◽  
Design Procedure ◽  
Sliding Mode Observer ◽  
Observer Design ◽  
Nonlinear Observer ◽  
Dynamical Structure ◽  
Additional Degree ◽  
The Stability

In this paper, a novel method for the design of robust nonlinear observer in the [Formula: see text] framework for Lipschitz nonlinear systems is proposed. For this purpose, a new dynamical structure is introduced that ensures the stability of observer error dynamics. Design innovation is the use of dynamic gain in the sliding mode observer. The additional degree of freedom provided by this dynamic formulation is exploited to deal with the nonlinear term. The performance of this stable [Formula: see text] observer is better than conventional static gain observers and the dynamic Luenberger observer. The compensator is designed in such a way that, while ensuring the stability of the closed-loop system, it prevents performance loss in the presence of the nonlinearities. By the proposed approach, the observer is robust to nonlinear uncertainties because of increasing the Lipschitz constant. Also, the design procedure in the presence of system and measurement noises is addressed. Finally, the simulation of our methodology is conducted on a nonlinear system to illustrate the advantage of this work in comparison with other observers.

scholarly journals Discrete-time sliding mode observer for the state estimation of a manoeuvring target

2019 ◽  
Vol 233 (7) ◽  
pp. 847-854
Author(s):  
K Harikumar ◽  
Titas Bera ◽  
Rajarshi Bardhan ◽  
Suresh Sundaram
Keyword(s):  
Boundary Layer ◽  
Discrete Time ◽  
Sliding Mode ◽  
Estimation Error ◽  
Sliding Mode Observer ◽  
Unknown Parameters ◽  
First Order ◽  
Error Dynamics ◽  
And Performance ◽  
The Stability

This article addresses the problem of estimating the position, velocity, and acceleration of a manoeuvring target from noisy position measurements. A discrete-time sliding mode observer is designed to handle unmeasured disturbance input and measurement noise. A first-order linear dynamics is considered for target acceleration. The acceleration input command and the pole of the first-order acceleration dynamics are considered to be unknown parameters with known upper bounds. A finite non-zero boundary layer is employed to reduce the chattering phenomenon typically associated with sliding mode observers. Analysis of estimation error dynamics is presented for the case where the discrete-time sliding mode observer is operating outside the boundary layer and also within the boundary layer. An algorithm is developed for obtaining the observer gain vector that guarantees the stability of the error dynamics. Numerical simulations and experimental results are presented to validate the stability and performance of the proposed observer.

scholarly journals H∞ Robust T-S Fuzzy Design for Uncertain Nonlinear Systems with State Delays Based on Sliding Mode Control

2010 ◽  
Vol 5 (4) ◽  
pp. 592 ◽  
Author(s):  
Xizheng Zhang ◽  
Yaonan Wang ◽  
Xiaofang Yuan
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Disturbance Attenuation ◽  
Linear Matrix ◽  
Parameter Uncertainties ◽  
Mode Control ◽  
Disturbance Attenuation Level ◽  
Takagi Sugeno

This paper presents the fuzzy design of sliding mode control (SMC) for nonlinear systems with state delay, which can be represented by a Takagi-Sugeno (TS) model with uncertainties. There exist the parameter uncertainties in both the state and input matrices, as well as the unmatched external disturbance. The key feature of this work is the integration of SMC method with H∞ technique such that the robust asymptotically stability with a prescribed disturbance attenuation level γ can be achieved. A sufficient condition for the existence of the desired SMC is obtained by solving a set of linear matrix inequalities (LMIs). The reachability of the specified switching surface is proven. Simulation results show the validity of the proposed method.

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