Actuator fault estimation based on a switched LPV extended state observer

Manh Quan Nguyen (1) , Olivier Sename (1) , Luc Dugard (1)

1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse

Actuator fault estimation problem is tackled in this paper. The actuator faults are modeled in the form of multiplicative faults by using effectiveness factors representing the loss of efficiency of the actuators. The main contribution of this paper lies in the capability of dealing with the presented problem by using a switched LPV observer approach. The LTI system in the presence of faulty actuators is rewritten as a switched LPV system by considering the control inputs as scheduling parameters. Then, the actuator faults and the system states are estimated using a switched LPV extended observer. The observer gain is derived, based on the LMIs solution for the switched LPV systems. The presented actuator fault estimation approach is validated by two illustrative examples, the first one about a damper fault estimation of a semi-active suspension system, and the second one concerned to fault estimations on a multiple actuators system.

Mots clés: Actuator fault estimation; switched LPV observer; dwell time

Domaines: Automatique / Robotique

Manh Quan Nguyen, Olivier Sename, Luc Dugard. Actuator fault estimation based on a switched LPV extended state observer. 2016. ⟨hal-01361886⟩