State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system
"This paper deals with an observer design for Linear Parameter Varying (LPV) systems with high-order time-varying parameter dependency. The proposed design, considered as the main contribution of this paper, corresponds to an observer for the estimation of the actuator fault and the system stat...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión enviada para evaluación y publicación |
| Fecha de publicación: | 2016 |
| País: | México |
| Institución: | Instituto Potosino de Investigación Científica y Tecnológica |
| Repositorio: | Repositorio Institucional del IPICYT |
| OAI Identifier: | oai:ipicyt.repositorioinstitucional.mx:1010/1752 |
| Acceso en línea: | http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1752 |
| Access Level: | acceso abierto |
| Palabra clave: | info:eu-repo/classification/Autor/LPV systems info:eu-repo/classification/Autor/Time-varying parameter info:eu-repo/classification/Autor/Actuator fault detection info:eu-repo/classification/Autor/Actuator fault estimation info:eu-repo/classification/Autor/State estimation info:eu-repo/classification/cti/1 info:eu-repo/classification/cti/12 |
| Sumario: | "This paper deals with an observer design for Linear Parameter Varying (LPV) systems with high-order time-varying parameter dependency. The proposed design, considered as the main contribution of this paper, corresponds to an observer for the estimation of the actuator fault and the system state, considering measurement noise at the system outputs. The observer gains are computed by considering the extension of linear systems theory to polynomial LPV systems, in such a way that the observer reaches the characteristics of LPV systems. As a result, the actuator fault estimation is ready to be used in a Fault Tolerant Control scheme, where the estimated state with reduced noise should be used to generate the control law. The effectiveness of the proposed methodology has been tested using a riderless bicycle model with dependency on the translational velocity v, where the control objective corresponds to the system stabilization towards the upright position despite the variation of v along the closed-loop system trajectories." |
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