Ultra Local Nonlinear Unknown Input Observers for Robust Fault Reconstruction

Ghanipoor, Farhad Ghanipoor; Murguia, Carlos; Mohajerin Esfahani, P.; Van De Wouw, Nathan

doi:10.1109/CDC51059.2022.9992945

Ultra Local Nonlinear Unknown Input Observers for Robust Fault Reconstruction

Conference paper (2022)

Authors

Farhad Ghanipoor Ghanipoor Eindhoven University of Technology

Carlos Murguia Eindhoven University of Technology

P. Mohajerin Esfahani Team Peyman Mohajerin Esfahani - Mechanical, Maritime and Materials Engineering

Nathan Van De Wouw Eindhoven University of Technology

Research Group

Team Peyman Mohajerin Esfahani (Mechanical, Maritime and Materials Engineering) (TU Delft)

DOI: https://doi.org/10.1109/CDC51059.2022.9992945

Uncertainty Actuators System dynamics Observers Estimation error Asymptotic stability Sufficient conditions

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Published Date

2022

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Peyman Mohajerin Esfahani

Abstract

In this paper, we present a methodology for actuator and sensor fault estimation in nonlinear systems. The method consists of augmenting the system dynamics with an approximated ultra-local model (a finite chain of integrators) for the fault vector and constructing a Nonlinear Unknown Input Observer (NUIO) for the augmented dynamics. Then, fault reconstruction is reformulated as a robust state estimation problem in the augmented state (true state plus fault-related state). We provide sufficient conditions that guarantee the existence of the observer and stability of the estimation error dynamics (asymptotic stability of the origin in the absence of faults and ISS guarantees in the faulty case). Then, we cast the synthesis of observer gains as a semidefinite program where we minimize the ℒ 2 -gain from the model mismatch induced by the approximated fault model to the fault estimation error. Finally, simulations are given to illustrate the performance of the proposed methodology.

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