非线性系统的鲁棒故障估计器:超局部模型设计

IF 4.8 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Farhad Ghanipoor , Carlos Murguia , Peyman Mohajerin Esfahani , Nathan van de Wouw
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引用次数: 0

摘要

本文提出了一种非线性估计器,用于对一类不确定非线性系统的过程和传感器故障进行鲁棒重建。所提出的故障估计方法利用故障向量的超局部(时间)内部状态空间表示(有限积分器链)来增强系统动力学。然后,根据增强动态的已知部分设计一个非线性状态观测器。该非线性滤波器(观测器)可重建故障信号以及增强系统的状态。我们提供了保证估计误差动态稳定性的充分条件:首先,在没有故障模型不匹配(故障内部超局部模型与实际故障动态之间的不匹配)、不确定性、外部干扰和测量噪声等扰动的情况下,保证估计误差动态的渐近稳定性(即精确故障估计);其次,在存在这些扰动的情况下,保证估计误差动态的输入到状态稳定性(ISS)。此外,为了支持基于性能的估计器设计,我们还提供了 L2 增益和 L2-L∞ 感应规范的线性矩阵不等式(LMI)条件,并将估计器增益的合成作为一个半定式程序,在该程序中,模型失配和外部干扰对故障估计误差的影响在 L2 增益的意义上最小化,而相对于测量噪声的 L2-L∞ 感应规范是可接受的。后一结果有助于设计明确解决噪声灵敏度与针对模型失配和外部干扰的鲁棒性之间的性能权衡问题。最后,一个基准系统的数值结果说明了所提方法的性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Robust fault estimators for nonlinear systems: An ultra-local model design
This paper proposes a nonlinear estimator for the robust reconstruction of process and sensor faults for a class of uncertain nonlinear systems. The proposed fault estimation method augments the system dynamics with an ultra-local (in time) internal state–space representation (a finite chain of integrators) of the fault vector. Next, a nonlinear state observer is designed based on the known parts of the augmented dynamics. This nonlinear filter (observer) reconstructs the fault signal as well as the states of the augmented system. We provide sufficient conditions that guarantee stability of the estimation error dynamics: firstly, asymptotic stability (i.e., exact fault estimation) in the absence of perturbations induced by the fault model mismatch (mismatch between internal ultra-local model for the fault and the actual fault dynamics), uncertainty, external disturbances, and measurement noise and, secondly, Input-to-State Stability (ISS) of the estimation error dynamics is guaranteed in the presence of these perturbations. In addition, to support performance-based estimator design, we provide Linear Matrix Inequality (LMI) conditions for L2-gain and L2L induced norm and cast the synthesis of the estimator gains as a semi-definite program where the effect of model mismatch and external disturbances on the fault estimation error is minimized in the sense of L2-gain, for an acceptable L2L induced norm with respect to measurement noise. The latter result facilitates a design that explicitly addresses the performance trade-off between noise sensitivity and robustness against model mismatch and external disturbances. Finally, numerical results for a benchmark system illustrate the performance of the proposed methodologies.
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来源期刊
Automatica
Automatica 工程技术-工程:电子与电气
CiteScore
10.70
自引率
7.80%
发文量
617
审稿时长
5 months
期刊介绍: Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.
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