TY - GEN
T1 - Sliding mode observer based disturbance reconstruction and fault tolerant control for nonlinear system
AU - Sun, Yiyong
AU - Ding, Changxing
AU - Yu, Jinyong
AU - Li, Zhan
AU - Li, Yuandi
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/15
Y1 - 2017/12/15
N2 - This paper investigates the coupled disturbance reconstruction, state estimation and trajectory tracking problems for a class of nonlinear systems. The sliding mode observer and the state feedback approaches are utilized to solve these problems. Considering only a partial of the system states are measured but the disturbances couple with time-varying parameters that the observer is designed by transforming the original system into a descriptor one. Hence, from the estimated values of system states and the decoupled disturbance, one can reconstruct the coupled disturbance. Upon these estimates, a state feedback based fault tolerant controller is designed such that the system states converge to the desired trajectory. Finally, to verify the validity of our scheme, a numerical simulation together with an experiment of 3-DOF robot are offered.
AB - This paper investigates the coupled disturbance reconstruction, state estimation and trajectory tracking problems for a class of nonlinear systems. The sliding mode observer and the state feedback approaches are utilized to solve these problems. Considering only a partial of the system states are measured but the disturbances couple with time-varying parameters that the observer is designed by transforming the original system into a descriptor one. Hence, from the estimated values of system states and the decoupled disturbance, one can reconstruct the coupled disturbance. Upon these estimates, a state feedback based fault tolerant controller is designed such that the system states converge to the desired trajectory. Finally, to verify the validity of our scheme, a numerical simulation together with an experiment of 3-DOF robot are offered.
UR - http://www.scopus.com/inward/record.url?scp=85046648700&partnerID=8YFLogxK
U2 - 10.1109/IECON.2017.8216545
DO - 10.1109/IECON.2017.8216545
M3 - Conference contribution
AN - SCOPUS:85046648700
T3 - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
SP - 3227
EP - 3232
BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
Y2 - 29 October 2017 through 1 November 2017
ER -