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A Combined H 2 / H Approach for Robust Joint Actuator and Sensor Fault Estimation: Application to a DC Servo-Motor System

Institute of Control and Computation Engineering, University of Zielona Góra, ul. Szafrana 2, 65-516 Zielona Góra, Poland
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Sensors 2019, 19(11), 2648; https://doi.org/10.3390/s19112648
Received: 17 April 2019 / Revised: 31 May 2019 / Accepted: 6 June 2019 / Published: 11 June 2019
(This article belongs to the Section Physical Sensors)
The main objective of this paper is to develop an actuator and sensor fault estimation framework taking into account various uncertainty sources. In particular, these are divided into three groups: sensor measurement noise, process-external exogenous disturbances, as well as unknown fault dynamics. Unlike the approaches presented in the literature, here they are not processed in the same way but treated separately in a suitably tailored fashion. Finally, the approach resolves to minimizing their effect on the fault estimation error in either the H 2 or H sense. As a result, a mixed performance–based actuator fault estimation framework is obtained, along with its convergence conditions. The final part of the paper presents performance analysis results obtained for a DC servo-motor. Subsequently, another three-tank-system-based example is presented. In both cases, the proposed approach is compared with an alternative one, which clearly exhibits its superiority. View Full-Text
Keywords: fault estimation; sensor and actuator fault; robustness; estimator design; observers fault estimation; sensor and actuator fault; robustness; estimator design; observers
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Buciakowski, M.; Pazera, M.; Witczak, M. A Combined H 2 / H Approach for Robust Joint Actuator and Sensor Fault Estimation: Application to a DC Servo-Motor System. Sensors 2019, 19, 2648.

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