Actuator and sensor fault estimation based on a proportional-integral quasi-LPV observer with inexact scheduling parameters
| Autor: | Samuel Gómez-Peñate, J. Enríquez-Zárate, Damiano Rotondo, Guillermo Valencia-Palomo, Francisco-Ronay López-Estrada |
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| Přispěvatelé: | Institut de Robòtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control, Tecnológico Nacional de México, Consejo Nacional de Ciencia y Tecnología (México), Agencia Estatal de Investigación (España), European Commission, Ministerio de Ciencia, Innovación y Universidades (España), Ministerio de Economía y Competitividad (España) |
| Rok vydání: | 2019 |
| Předmět: |
PI observer
0209 industrial biotechnology Pi observer Informàtica::Automàtica i control [Àrees temàtiques de la UPC] Inexact scheduling parameters Observer (quantum physics) Computer science Quadratic lyapunov function 020208 electrical & electronic engineering qLPV system 02 engineering and technology Scheduling (computing) Nonlinear system 020901 industrial engineering & automation Exponential stability Control and Systems Engineering Control theory Robustness (computer science) 0202 electrical engineering electronic engineering information engineering Automation [Classificació INSPEC] Actuator Fault diagnosis |
| Zdroj: | UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC) Digital.CSIC. Repositorio Institucional del CSIC instname |
| ISSN: | 2405-8963 2017-8840 |
| DOI: | 10.1016/j.ifacol.2019.12.355 |
| Popis: | Trabajo presentado en el 3rd IFAC Workshop on Linear Parameter-Varying Systems, celebrado en Eindhoven (Países Bajos), del 4 al 6 de noviembre de 2019 This paper presents a method for actuator and sensor fault estimation based on a proportional-integral observer (PIO) for a class of nonlinear system described by a polytopic quasi-linear parameter varying (qLPV) mathematical model. Contrarily to the traditional approach, which considers measurable or unmeasurable scheduling parameters, this work proposes a methodology that considers inexact scheduling parameters. This condition is present in many physical systems where the scheduling parameters can be affected by noise, offsets, calibration errors, and other factors that have a negative impact on the measurements. A H¿ performance criterion is considered in the design in order to guarantee robustness against sensor noise, disturbance, and inexact scheduling parameters. Then, a set of linear matrix inequalities (LMIs) is derived by the use of a quadratic Lyapunov function. The solution of the LMI guarantees asymptotic stability of the PIO. Finally, the performance and applicability of the proposed method are illustrated through a numerical experiment in a nonlinear system. This work is supported by Tecnologico Nacional de Mexico and the National Council of Science and Technology (CONACyT). The support is gratefully acknowledged. This work has been also partially funded by the Spanish State Research Agency (AEI) and the European Regional Development Fund (ERFD) through the projects SCAV (ref. MINECO DPI2017-88403-R) and DEOCS (ref. MINECO DPI2016-76493), and by the AEI through the Maria de Maeztu Seal of Excellence to IRI (MDM-2016-0656) and the grant Juan de la Cierva-Formacion (FJCI-2016-29019). |
| Databáze: | OpenAIRE |
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