Citation

Brizuela Mendoza JA, Astorga Zaragoza CM, Zavala Río A, Pattalochi L, Canales Abarca F. ISA Trans. 2015; 61: 199-210.

Affiliation

ABB Corporate Research, Brown Boveri Strasse 6, 5400 Baden, Switzerland. Electronic address: francisco.canales@ch.abb.com.

Copyright

(Copyright © 2015, Instrument Society of America, Publisher Elsevier Publishing)

DOI

10.1016/j.isatra.2015.11.026

PMID

26708303

Abstract

This paper deals with an observer design for Linear Parameter Varying (LPV) systems with high-order time-varying parameter dependency. The proposed design, considered as the main contribution of this paper, corresponds to an observer for the estimation of the actuator fault and the system state, considering measurement noise at the system outputs. The observer gains are computed by considering the extension of linear systems theory to polynomial LPV systems, in such a way that the observer reaches the characteristics of LPV systems. As a result, the actuator fault estimation is ready to be used in a Fault Tolerant Control scheme, where the estimated state with reduced noise should be used to generate the control law. The effectiveness of the proposed methodology has been tested using a riderless bicycle model with dependency on the translational velocity v, where the control objective corresponds to the system stabilization towards the upright position despite the variation of v along the closed-loop system trajectories.

Language: en