This chapter considers fault detection and isolation (FDI) for nonlinear systems with uncertainties using particular sliding mode observers for which the parameters can be obtained using LMI techniques. A sliding mode observder-based approach is presented to estimate system faults using bounds on the uncertainty, and as a special case, a fault reconstruction scheme is available where the reconstructed signal can approximate the fault signal to any accuracy. Sensor FDI for nonlinear systems is considered where a nonlinear diffeomorphism is introduced to exploit the system structure and a simple filter is presented to ‘transform’ the sensor fault into a pseudo-actuator fault scenario. Both fault estimation and reconstruction are considered. Case studies on a robotic arm and a mass–spring system are given to demonstrate the effectiveness of the proposed schemes.
CITATION STYLE
Yan, X. G., Spurgeon, S. K., & Edwards, C. (2017). Sliding mode observer-based fault detection and isolation. In Communications and Control Engineering (pp. 263–296). Springer International Publishing. https://doi.org/10.1007/978-3-319-48962-9_8
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