Robust Unknown Input Observer based Fast Adaptive Fault Estimation: Application to Unicycle Robot
نویسندگان
چکیده
This work studies the problem of fault estimation using a fast adaptive fault diagnosis observer. The estimator bloc considered for this purpose is an Unknown Input Observer (UIO) which is subsequently used for a robust fault detection scheme and also as an adaptive detection design for an additive actuator fault. Stability of the adaptive estimation is provided by a Lyapunov function ending with solving the Linear Matrix Inequalities (LMI). Due to technological advances in the field of electronic devices, the family of robots is of particular interest thanks to their enhanced mobility capabilities. That’s why a numerical example on a linear model describing a unicycle robot is used to illustrate the theoretical results.
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