Robust Sensor Fault Estimation for Control Systems Affected by Friction Force | ||
| IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING | ||
| Article 4, Volume 22, Issue 3, September 2022, Pages 34-47 PDF (784.32 K) | ||
| Document Type: Research Paper | ||
| DOI: https://doi.org/10.33103/uot.ijccce.22.3.4 | ||
| Authors | ||
| Ruaa Hameed Ahmed* 1; Montadher Sami Shaker2 | ||
| 1Scholarships and Cultural Relations Dept, Ministry of Higher Education and Scientiffic Research, Baghdad, Iraq, | ||
| 2Electrical Engineering Dept, University of Technology, Baghdad, Iraq | ||
| Abstract | ||
| The paper presents an observer-based estimation of sensor fault for control systems affected by friction force. In such systems, the non-linearity of friction force leads to deteriorating sensor fault estimation capability of the observer. Hence, the challenge is to design an observer capable of attaining robust sensor fault estimation while avoiding the effects of friction. To overcome the highlighted challenge, an Unknown Input Observer (UIO) is designed to decouple the effects of friction as well as to estimate the state and sensor fault.The benefit of proposing UIO is to guarantee robust sensor fault estimation despite the highly non-linear disturbance in the form of friction. The gains of the UIO are computed through a single–step linear matrix inequality. Finally, an inverted pendulum simulation is presented to demonstrate the novel approach's performance effectiveness. Index Terms—Robust fault estimation; Fault-Tolerant control; unknown input observer; Friction force; estimation/decoupling approach. Index Terms—Robust fault estimation; Fault-Tolerant control; unknown input observer; Friction force; estimation/decoupling approach. | ||
| Keywords | ||
| Robust fault estimation; Fault-Tolerant control; unknown input observer; Friction force; estimation/decoupling approach | ||
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