基于滑模观测器的多传感器故障诊断方法

DIAGNOSIS OF MULTIPLE SENSOR FAULTS BASED ON SLIDING MODE OBSERVER

针对一类非线性系统的传感器故障诊断问题,提出了一种多传感器故障检测方法.首先,定义一个状态变量将传感器故障转换成伪执行器故障,然后设计相应的滑模观测器生成残差,来实现多故障的检测.依据Lyapunov稳定性理论,以LMI的形式给出了观测器存在的充分条件.最后通过单关节机械手的实例,验证了所提方法的有效性和可行性.

A multiply sensor faults detection method was proposed for a class of nonlinear system of sensor fault diagnosis problem. First, we defined a state variable to convert the sensor fault as pseudo actuators fault, and then generated the residual through the corresponding sliding - mode observer to realize the fault detection. Based on Lyapunov stability theory, a sufficient condition for observer was derived in the form of linear matrix inequality （LMI）. Finally, the correctness and effectiveness of the method were verified through a single link robot simulated experiments.