Fuzzy Fault Detection Observer Design for Head-Two-Arms-Trunk System

This paper deals with the problem designing fault detection observer for H2AT model in restricted frequency-domain specifications. Both disturbances and fault frequencies are assumed to be known and reside in a middle-frequency range. Different from previous results, the H2AT model is represented in the N-TS fuzzy model. It allows separating the unmeasured premise variables (UPV) in the local nonlinear consequent which provides a more effective way to deal with the UPV. In order to guarantee the best robustness to disturbances and sensitivity to faults, the fault detection observer combines the $H$- / $H$∞ performances. The design conditions are obtained based on Differential Mean Value Theorem (DMVT) property. Simulation result are conducted to demonstrate the viability and validity of the presented method.