UIO approach for estimation of nonlinear components behavior

Author

Tarasov, E. ; Sueur, C. ; Bouamama, B. Ould

Author_Institution

LAGIS, Ecole Centrale de Lille, Villeneuve-d´Ascq, France

fYear

2014

fDate

15-17 Dec. 2014

Firstpage

1828

Lastpage

1833

Abstract

The main purpose of this paper is to present a method for estimating nonlinear parameters of dynamical systems using the concept of unknown input observer dedicated to linear systems. The bond graph approach is used due to its structural and causal properties and since each component can be precisely isolated using Fault detection and Isolation step. Three main points are developed and applied to a flexible joint robot link: modeling of a nonlinear component as a linear one with one unknown input, application of an unknown input observer with estimation of the nonlinear component behavior and estimation of variables of the model with application of a flat control.

Keywords

fault diagnosis; linear systems; observers; robot dynamics; UIO; bond graph; dynamical systems; fault detection; flat control; flexible joint robot link; input observer; isolation step; linear systems; nonlinear component behavior; nonlinear parameters; Equations; Input variables; Mathematical model; Nonlinear systems; Observers; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on

Conference_Location

Los Angeles, CA

Print_ISBN

978-1-4799-7746-8

Type

conf

DOI

10.1109/CDC.2014.7039664

Filename

7039664