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...

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Detalles Bibliográficos
Autores: Jorge Aurelio Brizuela Mendoza, CARLOS MANUEL ASTORGA ZARAGOZA, Arturo Zavala Río, FRANCISCO VENUSTIANO CANALES ABARCA
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
id MX_70ca1ca4b2d4d9619befe2475d74009d
oai_identifier_str oai:ipicyt.repositorioinstitucional.mx:1010/1752
network_acronym_str MX
network_name_str México
repository_id_str
spelling State and actuator fault estimation observer design integrated in a riderless bicycle stabilization systemJorge Aurelio Brizuela MendozaCARLOS MANUEL ASTORGA ZARAGOZAArturo Zavala RíoFRANCISCO VENUSTIANO CANALES ABARCAinfo:eu-repo/classification/Autor/LPV systemsinfo:eu-repo/classification/Autor/Time-varying parameterinfo:eu-repo/classification/Autor/Actuator fault detectioninfo:eu-repo/classification/Autor/Actuator fault estimationinfo:eu-repo/classification/Autor/State estimationinfo:eu-repo/classification/cti/1info:eu-repo/classification/cti/12info:eu-repo/classification/cti/12"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."Elsevier2016info:eu-repo/semantics/articleinfo:eu-repo/semantics/submittedVersionapplication/pdfhttp://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1752reponame:Repositorio Institucional del IPICYTinstname:Instituto Potosino de Investigación Científica y Tecnológicainstacron:IPICYTinfo:eu-repo/semantics/altIdentifier/DOI/https://doi.org/10.1016/j.isatra.2015.11.026citation:Jorge Aurelio Brizuela Mendoza, Carlos Manuel Astorga Zaragoza, Arturo Zavala Río, Leo Pattalochi, Francisco Canales Abarca, State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system, ISA Transactions, Volume 61, 2016, Pages 199-210.info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-nd/4.0oai:ipicyt.repositorioinstitucional.mx:1010/17522024-08-28T03:17:45Z
dc.title.none.fl_str_mv State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system
title State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system
spellingShingle State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system
Jorge Aurelio Brizuela Mendoza
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
info:eu-repo/classification/cti/12
title_short State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system
title_full State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system
title_fullStr State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system
title_full_unstemmed State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system
title_sort State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system
dc.creator.none.fl_str_mv Jorge Aurelio Brizuela Mendoza
CARLOS MANUEL ASTORGA ZARAGOZA
Arturo Zavala Río
FRANCISCO VENUSTIANO CANALES ABARCA
author Jorge Aurelio Brizuela Mendoza
author_facet Jorge Aurelio Brizuela Mendoza
CARLOS MANUEL ASTORGA ZARAGOZA
Arturo Zavala Río
FRANCISCO VENUSTIANO CANALES ABARCA
author_role author
author2 CARLOS MANUEL ASTORGA ZARAGOZA
Arturo Zavala Río
FRANCISCO VENUSTIANO CANALES ABARCA
author2_role author
author
author
dc.subject.none.fl_str_mv 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
info:eu-repo/classification/cti/12
topic 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
info:eu-repo/classification/cti/12
description "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."
publishDate 2016
dc.date.none.fl_str_mv 2016
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/submittedVersion
format article
status_str submittedVersion
dc.identifier.none.fl_str_mv http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1752
url http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1752
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/DOI/https://doi.org/10.1016/j.isatra.2015.11.026
citation:Jorge Aurelio Brizuela Mendoza, Carlos Manuel Astorga Zaragoza, Arturo Zavala Río, Leo Pattalochi, Francisco Canales Abarca, State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system, ISA Transactions, Volume 61, 2016, Pages 199-210.
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-nc-nd/4.0
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-nd/4.0
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:Repositorio Institucional del IPICYT
instname:Instituto Potosino de Investigación Científica y Tecnológica
instacron:IPICYT
instname_str Instituto Potosino de Investigación Científica y Tecnológica
instacron_str IPICYT
institution IPICYT
reponame_str Repositorio Institucional del IPICYT
collection Repositorio Institucional del IPICYT
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.811543

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