Hybrid Unknown Input Observer for Actuator Fault Detection and Compensation
نویسندگان
چکیده
The problem of unknown input estimation and compensation is studied for actuated nonlinear systems with noisy measurements. The proposed solution is based on high order sliding-mode differentiation and discretetime optimization technique. Accuracy of the proposed hybrid estimation scheme is evaluated and stability of the compensating mechanism is established. It is shown that the fault detection delay as well as the smallest detectable fault magnitude can be estimated. The proposed procedure is applied to the problem of actuators fault detection and compensation under feedback control in an aeronautical application.
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