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This paper addresses the problem of output feedback control design for a class of multi-input-multi-output (MIMO) nonlinear systems where the number of inputs is less than that of outputs. There are two difficulties in this design problem: (1) too few control inputs will not generally allow independent control over all outputs and (2) the state of the system is not available for measurements, and...
An actuator fault diagnosis approach for affine nonlinear systems with unknown inputs is presented. The proposed approach is based on an input/output relation involving not only the inputs and the outputs but also the higher derivatives of the outputs. It employs the recently developed high-order sliding-mode robust differentiators (HOSMRDs) to estimate the higher derivatives of the outputs. Under...
Many existing fault diagnosis schemes require two either implicit or explicit assumptions. An often implicit is that the relative degrees from the generalized input vector, including both known and unknown inputs, to the outputs are no larger than one. The other is that the unknown inputs, if present, satisfy certain matching conditions. Little result exists for systems with relative degree not necessarily...
Sliding mode observers designed for systems with matched uncertainty require an upper bound to be known exactly. To remove this requirement, two novel sliding mode observers are proposed by modifying Walcott-Zak observer and Edwards-Spurgeon observer. Their novelty lies in the mechanism introduced to update the sliding mode observer gain for counteracting uncertainty. Due to this, the knowledge of...
This paper investigates the actuator fault isolation problem for a class of linear systems. To isolate the actuator faults amongst all possibilities, we first relate each possibility to a faulty model, then for each possible faulty model, a sliding mode observer (SMO) is designed. It is proved that, for the faulty model corresponds to the faulty actuators, the SMO designed can ensure the related state...
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