We extend existing theory on robust nonlinear observer design to the class of nonlinear Lipschitz systems where the systems are subject to sensor faults and disturbances. The designed observer is used for robust reconstruction of fault signals. Allowing bounded unknown disturbances to model system uncertainties, it is shown that by adjusting a design parameter we can trade off between fault reconstruction and disturbance attenuation. An LMI procedure solvable using commercially available softwares is presented. Two examples are presented to illustrate the application of the results.
This article presents novel robust adaptive fault tolerant control strategies for the class of nonlinear Lipschitz systems in the presence of bounded matched or unmatched disturbances and actuator faults (failure, loss of effectiveness, and stuck). Two constructive algorithms, based on linear matrix inequalities with creatively using Lyapunov stability theory, are developed for online tuning of adaptive and fixed state feedback gains to stabilize the closed-loop control system asymptotically, to compensate actuator faults, and to attenuate disturbance effects. The resultant control schemes have simpler and constructive structures as compared with most existing methods. The merits of the proposed schemes have been verified by the simulation on an unstable nonlinear process subjected to actuator faults.
In this paper, the trajectory tracking problem for a wheeled mobile robot in the presence of kinematic and dynamic uncertainties has been addressed. Uncertainties are modeled as lumped disturbances. A kinematic controller based on feedback linearization approach and a dynamic controller based on model reference adaptive control are designed in the presence of disturbances. In order to ensure both robustness and implementability of the controllers, the disturbances are estimated by a generalized linear matrix inequality-based disturbance observer. Simulation results show the effectiveness of the proposed method.
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