含量测噪声非线性系统鲁棒滑模多故障重构观测器设计

Robust sliding mode observer design for nonlinear system with measurement noise and multiple faults

针对一类含量测噪声的多故障并发(执行器和传感器同时出现故障)非线性系统,提出了一种完全解耦鲁棒滑模故障重构观测器设计方法。首先,将传感器故障及量测噪声作为增维向量构建广义系统,针对广义系统设计鲁棒滑模观测器。其次,考虑非线性Lipschitz系数以及故障上界未知情形,提出综合自适应律补偿的设计程式。同时,在观测器系数矩阵设计中,引入辅助矩阵以及广义约束逆矩阵,实现故障与扰动完全解耦;在此基础上,基于线性矩阵不等式提出了观测器增益矩阵设计方案。最后,综合鲁棒滑模微分器给出了执行器及传感器故障重构结论,并开展了仿真算例研究,以检验设计方案的有效性。

An absolute decoupled robust sliding mode observer design method for fault reconstruction is proposed,which is used for a class of nonlinear system with multiple faults(actuator faults and sensor faults existing simultaneously)and measurement noise.Firstly,the sensor faults and measurement noise are taken as the parts of augmented state vector to build the descriptor system,and the robust descriptor sliding mode observer is designed.Then considering the case that Lipschitz coefficient and upper bound of faults are unknown,the design algorithm with the adaptive law is proposed.Besides,the auxiliary matrix and descriptor constrained inverse matrix are introduced to design the coefficient matrix of observer,which is used for decoupling the faults from disturbances.Meanwhile,the gain matrix design method of observer is proposed through linear matrix inequality.Finally,the sliding mode differentiator is provided,and the actuator and sensor fault reconstructed results are given.The simulation is given to demonstrate the effectiveness of the proposed method.