Design of unknown input observer with H_∞ performance for linear time-delay systems

A unknown input observer （UIO） design for a class of linear time-delay systems when the observer error can＇t completely decouple from unknown input is dealt with. A sufficient condition to its existence is presented based on Lyapunov stability method. Design problem of the proposed observer is formulated in term of linear matrix inequalities. Two design problems of the observer with internal delay and without internal delay are formulated. Based on H∞ control theory in time-delay systems, the proposed observer is designed in term of linear matrix inequalities （LMI）. A design algorithm is proposed. The effective of the proposed approach is illustrated by a numerical example.

Set-Membership Filtering Approach to Dynamic Event-Triggered Fault Estimation for a Class of Nonlinear Time-Varying Complex Networks

The present study addresses the problem of fault estimation for a specific class of nonlinear time-varying complex networks,utilizing an unknown-input-observer approach within the framework of dynamic event-triggered mechanism(DETM).In order to optimize communication resource utilization,the DETM is employed to determine whether the current measurement data should be transmitted to the estimator or not.To guarantee a satisfactory estimation performance for the fault signal,an unknown-input-observer-based estimator is constructed to decouple the estimation error dynamics from the influence of fault signals.The aim of this paper is to find the suitable estimator parameters under the effects of DETM such that both the state estimates and fault estimates are confined within two sets of closed ellipsoid domains.The techniques of recursive matrix inequality are applied to derive sufficient conditions for the existence of the desired estimator,ensuring that the specified performance requirements are met under certain conditions.Then,the estimator gains are derived by minimizing the ellipsoid domain in the sense of trace and a recursive estimator parameter design algorithm is then provided.Finally,a numerical example is conducted to demonstrate the effectiveness of the designed estimator.

Fuzzy Unknown Input Observer for Estimating Sensor and Actuator Cyber‑Attacks in Intelligent Connected Vehicles

The detection and mitigation of cyber-attacks in connected vehicle systems(CVSs)are critical for ensuring the security of intelligent connected vehicles.This paper presents a solution to estimate sensor and actuator cyber-attacks in CVSs.A novel method is proposed that utilizes an augmented system representation technique and a nonlinear unknown input observer(UIO)to achieve asymptotic estimation of both CVS dynamics and cyber-attacks.The nonlinear CVS dynamics is represented in a Takagi–Sugeno(TS)fuzzy form with nonlinear consequents,which allows for the effective use of the differential mean value theorem to handle unmeasured premise variables.Furthermore,via Lyapunov stability theory sufficient conditions are proposed,expressed in terms of linear matrix inequalities,to design TS fuzzy UIO.Several test scenarios are performed with high-fidelity Simulink-CarSim co-simulations to show the effectiveness of the proposed cyber-attack estimation method.

Distributed fault diagnosis observer for multi-agent system against actuator and sensor faults

Component failures can cause multi-agent system(MAS)performance degradation and even disasters,which provokes the demand of the fault diagnosis method.A distributed sliding mode observer-based fault diagnosis method for MAS is developed in presence of actuator and sensor faults.Firstly,the actuator and sensor faults are extended to the system state,and the system is transformed into a descriptor system form.Then,a sliding mode-based distributed unknown input observer is proposed to estimate the extended state.Furthermore,adaptive laws are introduced to adjust the observer parameters.Finally,the effectiveness of the proposed method is demonstrated with numerical simulations.

Distributed Fault Detection for Consensus in Second-Order Discrete-Time Multiagent Systems with Adversary

This paper is concerned with distributed fault detection of second-order discrete-time multi-agent systems with adversary,where the adversary is regarded as a slowly time-varying signal.Firstly,a novel intrusion detection scheme based on the theory of unknown input observability( UIO) is proposed. By constructing a bank of UIO,the states of the malicious agents can be directly estimated. Secondly,the faulty-node-removal algorithm is provided.Simulations are also provided to demonstrate the effectiveness of the theoretical results.

Fault diagnosis of an intelligent hydraulic pump based on a nonlinear unknown input observer

Hydraulic piston pumps are commonly used in aircraft. In order to improve the viability of aircraft and energy efficiency, intelligent variable pressure pump systems have been used in aircraft hydraulic systems more and more widely. Efficient fault diagnosis plays an important role in improving the reliability and performance of hydraulic systems. In this paper, a fault diagnosis method of an intelligent hydraulic pump system（IHPS） based on a nonlinear unknown input observer（NUIO） is proposed. Different from factors of a full-order Luenberger-type unknown input observer, nonlinear factors of the IHPS are considered in the NUIO. Firstly, a new type of intelligent pump is presented, the mathematical model of which is established to describe the IHPS. Taking into account the real-time requirements of the IHPS and the special structure of the pump, the mechanism of the intelligent pump and failure modes are analyzed and two typical failure modes are obtained. Furthermore, a NUIO of the IHPS is performed based on the output pressure and swashplate angle signals. With the residual error signals produced by the NUIO, online intelligent pump failure occurring in real-time can be detected. Lastly, through analysis and simulation, it is confirmed that this diagnostic method could accurately diagnose and isolate those typical failure modes of the nonlinear IHPS. The method proposed in this paper is of great significance in improving the reliability of the IHPS.

Novel robust fault diagnosis method for flight control systems

A novel robust fault diagnosis scheme, which possesses fault estimate capability as well as fault diagnosis property, is proposed. The scheme is developed based on a suitable combination of the adaptive multiple model （AMM） and unknown input observer （UIO）. The main idea of the proposed scheme stems from the fact that the actuator Lock-in-Place fault is unknown （when and where the actuator gets locked are unknown）, and multiple models are used to describe different fault scenarios, then a bank of unknown input observers are designed to implement the disturbance de-coupling. According to Lyapunov theory, proof of the robustness of the newly developed scheme in the presence of faults and disturbances is derived. Numerical simulation results on an aircraft example show satisfactory performance of the proposed algorithm.

Unknown Inputs Observer for a Class of Nonlinear Uncertain Systems: An LMI Approach

This paper deals with the simultaneous estimation of states and unknown inputs for a class of Lipschitz nonlinear systems using only the measured outputs. The system is assumed to have bounded uncertainties that appear on both the state and output matrices. The observer design problem is formulated as a set of linear constraints which can be easily solved using linear matrix inequalities (LMI) technique. An application based on manipulator arm actuated by a direct current (DC) motor is presented to evaluate the performance of the proposed observer. The observer is applied to estimate both state and faults.

Design of Fault Diagnosis Observer for HAGC System on Strip Rolling Mill

By building mathematical model for HAGC （hydraulic automation gauge control） system of strip rolling mill, treating faults as unknown inputs induced by model uncertainty, and analyzing fault direction, an unknown input fault diagnosis observer group was designed. Fault detection and isolation were realized through making ob- server residuals robust to specific faults but sensitive to other faults. Sufficient existence conditions and design of the observers were given in detail. Diagnosis observer parameters for servo-valve, cylinder, roller and body rolling mill were obtained resoectively. The effectiveness of this diagnosis method was oroved bv actual data simulations.

Design and simulation of fault diagnosis based on NUIO/LMI for satellite attitude control systems

This paper presents a scheme of fault diagnosis for flexible satellites during orbit maneuver. The main contribution of the paper is related to the design of the nonlinear input observer which can avoid false alarm arising from the disturbance from orbit control force. The effects of orbit control force on the fault diagnosis system for satellite attitude control systems, including the disturbing torque caused by the misalignments and the model uncertainty caused by the fuel consumed, are discussed, where standard Lu- enberger observer cannot work well. Then the nonlinear unknown input observer is proposed to decouple faults from disturbance, Besides, a linear matrix inequality approach is adopted to reduce the effect of nonlinear part and model uncertainties on the observer. The numerical and semi-physical simulation demonstrates the effectiveness of the proposed observer for the fault diagnosis system of the satellite during orbit maneuver.

A gain-varying UIO approach with adaptive threshold for FDI of nonlinear F16 systems

A discrete gain-varying unknown input observer （UIO） method is presented for actuator fault detection and isolation （FDI） problems in this paper. A novel residual scheme together with a moving horizon threshold is proposed. This design methodology is applied to a nonlinear F16 system with polynomial aerodynamics coefficient expressions, where the coefficient expressions for the F16 system and UIOs may be slightly different. The simulation results illustrate that a satisfactory FDI performance can be achieved even when the F16 system is under the environment of model uncertainties, exogenous noise and measurement errors.

Distributed Fault-Tolerant Consensus Tracking of Multi-Agent Systems Under Cyber-Attacks

This paper investigates the distributed fault-tolerant consensus tracking problem of nonlinear multi-agent systems with general incipient and abrupt time-varying actuator faults under cyber-attacks.First,a decentralized unknown input observer is established to estimate relative states and actuator faults.Second,the estimated and output neighboring information is combined with distributed fault-tolerant consensus tracking controllers.Criteria of reaching leader-following exponential consensus tracking of multi-agent systems under both connectivity-maintained and connectivity-mixed attacks are derived with average dwelling time,attack frequency,and attack activation rate technique,respectively.Simulation example verifies the effectiveness of the fault-tolerant consensus tracking algorithm.

Local nonlinear unknown input observer

This paper proposes a new nonlinear unknown input observer. The observer design approach utilizes the first order Taylor expansion. The observer gains are then obtained by a systematic method. In this paper, we added some improvements to this method. The developed approach also can enable observer design for a large class of differentiable nonlinear systems. The necessary and sufficient conditions for the existence of the observer are given. A numerical example is given to illustrate the attractiveness and the simplicity of the new design procedure.

Nonlinear unknown input observer using mean value theorem and genetic algorithm

In this note,we consider a new unknown input observer design for nonlinear systems.The main idea consists in determining the estimation error and mean value theorem parameters(β)to introduce them into proposed observer structure.This process is designed on the basis of mean value theorem and genetic algorithm.The stability study relies on the use of a classical quadratic Lyapunov function.The observer’s gains are determined systematically.For the validation of theoretical development proposed in this paper,we consider two practical realizations that deals with the secure communication problem.

Effective model based fault detection scheme for rudder servo system

The inherent nonlinearities of the rudder servo system(RSS) and the unknown external disturbances bring great challenges to the practical application of fault detection technology. Modeling of whole rudder system is a challenging and difficult task. Quite often, models are too inaccurate, especially in transient stages. In model based fault detection, these inaccuracies might cause wrong actions. An effective approach, which combines nonlinear unknown input observer(NUIO) with an adaptive threshold, is proposed. NUIO can estimate the states of RSS asymptotically without any knowledge of external disturbance. An adaptive threshold is used for decision making which helps to reduce the influence of model uncertainty. Actuator and sensor faults that occur in RSS are considered both by simulation and experimental tests. The observer performance, robustness and fault detection capability are verified. Simulation and experimental results show that the proposed fault detection scheme is efficient and can be used for on-line fault detection.

Observer design for descriptor networked control systems with unknown and partially known inputs

Sufficient conditions are given for the existence of unknown and partially known input normal and descriptor observers for a class of descriptor discrete time networked control systems.It is shown that a causal and regular descriptor system subjected to input and output periodic communication constraints,can be down sampled into a causal and regular p-lifted time invariant system.According to the lifted formulation,interesting results on minimum and maximum feasible values for communication sequence periods are drawn for the existence of an unknown or partially known input observer.The case of partially known input observer,cover unknown input case as an extreme case.An example is given for clarification.

On linear observers and application to fault detection in synchronous generators

This work introduces an observer structure and highlights its distinct advantages in fault detection and isolation. Its application to the issue of shorted turns detection in synchronous generators is demonstrated. For the theoretical foundation, the convergence and design of Luenberger-type observers for disturbed linear time-invariant （LTI） single-input single-output （SISO） systems are reviewed with a particular focus on input and output disturbances. As an additional result, a simple observer design for stationary output disturbances that avoids a system order extension, as in classical results, is proposed.

Detection and Estimation of False Data Injection Attacks for Load Frequency Control Systems

False data injection attacks(FDIAs)against the load frequency control(LFC)system can lead to unstable operation of power systems.In this paper,the problems of detecting and estimating the FDIAs for the LFC system in the presence of external disturbances are investigated.First,the LFC system model with FDIAs against frequency and tie-line power measurements is established.Then,a design procedure for the unknown input observer(UIO)is presented and the residual signal is generated to detect the FDIAs.The UIO is designed to decouple the effect of the unknown external disturbance on the residual signal.After that,an attack estimation method based on a robust adaptive observer(RAO)is proposed to estimate the state and the FDIAs simultaneously.In order to improve the performance of attack estimation,the H¥technique is employed to minimize the effect of external disturbance on estimation errors,and the uniform boundedness of the state and attack estimation errors is proven using Lyapunov stability theory.Finally,a two-area interconnected power system is simulated to demonstrate the effectiveness of the proposed attack detection and estimation algorithms.

Phenomenological Based Soft Sensor for Online Estimation of Slurry Rheological Properties

This work proposes a soft sensor based on a phenomenological model for online estimation of the density and viscosity of a slurry flowing through a pipe-and-fittings assembly(PFA). The model is developed considering the conservation principle applied to mass and momentum transfer and considering frictional energy losses to include the variables directly affecting slurry properties. A reported proposal for state observers with unknown inputs is used to develop the first block of the observer structure. The second block is constructed with two options for evaluating slurry viscosity, generating two possible estimator structures, which are tested using real data. A comparison between them indicates different uses and capabilities according to available process information.

A Robust Fault Detection Scheme for a Class of Multi Time Delay Systems

A robust fault detection (RFD) scheme for a class of multi time delay system is proposed in this paper. A time delay unknown input observer (TDUIO) is adopted as the residual generator. The key stage of the TDUIO design is to find a coordinate change such that in the new coordinates all the time delay terms in the system description are associated with the output only. Then the TDUIO can be completed by the method for common unknown input observer. Thus, a robust residual signal for RFD is generated, which is sensitive to faults while robust against unknown input (disturbance). The proposed method has been verified by a numerical example.