DocumentCode :
2439154
Title :
A sligthly improved robust adaptive observer for actuator fault detection
Author :
Menighed, Kamel ; Yamé, Joseph J. ; Aubrun, Christophe
Author_Institution :
Centre de Rech. en Autom. de Nancy, Univ. Henri Poincare Nancy 1, Vandoeuvre-les-Nancy, France
fYear :
2010
fDate :
7-10 Dec. 2010
Firstpage :
1322
Lastpage :
1328
Abstract :
In this paper, we address the problem of actuator fault detection and estimation for a plant in the presence of external disturbances. We design a robust fault estimation technique based on an adaptive observer with enhanced speed of adaptation. The construction of the observer is carried out through a transformation of the plant model into its special coordinate basis (SCB) form. This transformation allows a decoupling of the fault estimates from the disturbances. Thanks to this decoupling, the standard adaptive observer is slightly modified to achieve faster fault estimation in presence of disturbances and plant-model uncertainties. Simulation experiments are presented to illustrate the effectiveness of the proposed adaptive scheme.
Keywords :
actuators; adaptive control; fault diagnosis; observers; robust control; uncertain systems; actuator fault detection; plant-model uncertainties; robust adaptive observer; robust fault estimation technique; special coordinate basis form; Actuators; Adaptation model; Biological system modeling; Observers; Robustness; Uncertainty; Fault estimation; actuator fault; adaptive observer; robust residuals; uncertain systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-7814-9
Type :
conf
DOI :
10.1109/ICARCV.2010.5707908
Filename :
5707908
Link To Document :
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