Nonlinear sliding mode observers for fault reconstruction and state estimations

Kalyana C. Veluvolu; Yeng Chai Soh

doi:10.1109/ICARCV.2010.5707779

Nonlinear sliding mode observers for fault reconstruction and state estimations

Kalyana C. Veluvolu
, Yeng Chai Soh

School of Electronics Engineering

Nanyang Technological University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper, we shall examine the design of sliding mode observers for Lipschitz nonlinear systems for state and faults/unknown input estimations. The robust terms or the switching terms are designed such that the faults are tracked by their robust terms and so can be reconstructed from the sliding mode. The stability condition for the reduced order system is analyzed and the feedback gain is designed such that the reduced order system is stable. An application example to robotic manipulator is examined to demonstrate the effectiveness of the proposed method in reconstruction of unknown inputs/faults.

Original language	English
Title of host publication	11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
Publisher	IEEE Computer Society
Pages	2379-2384
Number of pages	6
ISBN (Print)	9781424478132
DOIs	https://doi.org/10.1109/ICARCV.2010.5707779
State	Published - 2010

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Name	11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010

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10.1109/ICARCV.2010.5707779

Cite this

Veluvolu, K. C., & Soh, Y. C. (2010). Nonlinear sliding mode observers for fault reconstruction and state estimations. In 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010 (pp. 2379-2384). Article 5707779 (11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010). IEEE Computer Society. https://doi.org/10.1109/ICARCV.2010.5707779

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title = "Nonlinear sliding mode observers for fault reconstruction and state estimations",

abstract = "In this paper, we shall examine the design of sliding mode observers for Lipschitz nonlinear systems for state and faults/unknown input estimations. The robust terms or the switching terms are designed such that the faults are tracked by their robust terms and so can be reconstructed from the sliding mode. The stability condition for the reduced order system is analyzed and the feedback gain is designed such that the reduced order system is stable. An application example to robotic manipulator is examined to demonstrate the effectiveness of the proposed method in reconstruction of unknown inputs/faults.",

author = "Veluvolu, \{Kalyana C.\} and Soh, \{Yeng Chai\}",

year = "2010",

doi = "10.1109/ICARCV.2010.5707779",

language = "English",

isbn = "9781424478132",

series = "11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010",

publisher = "IEEE Computer Society",

pages = "2379--2384",

booktitle = "11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010",

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Veluvolu, KC & Soh, YC 2010, Nonlinear sliding mode observers for fault reconstruction and state estimations. in 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010., 5707779, 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010, IEEE Computer Society, pp. 2379-2384. https://doi.org/10.1109/ICARCV.2010.5707779

Nonlinear sliding mode observers for fault reconstruction and state estimations. / Veluvolu, Kalyana C.; Soh, Yeng Chai.
11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010. IEEE Computer Society, 2010. p. 2379-2384 5707779 (11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper, we shall examine the design of sliding mode observers for Lipschitz nonlinear systems for state and faults/unknown input estimations. The robust terms or the switching terms are designed such that the faults are tracked by their robust terms and so can be reconstructed from the sliding mode. The stability condition for the reduced order system is analyzed and the feedback gain is designed such that the reduced order system is stable. An application example to robotic manipulator is examined to demonstrate the effectiveness of the proposed method in reconstruction of unknown inputs/faults.

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PB - IEEE Computer Society

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Nonlinear sliding mode observers for fault reconstruction and state estimations

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