TY  - JOUR
PY  - 2015//
TI  - State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system
JO  - ISA transactions
A1  - Brizuela Mendoza, Jorge Aurelio
A1  - Astorga Zaragoza, Carlos Manuel
A1  - Zavala Río, Arturo
A1  - Pattalochi, Leo
A1  - Canales Abarca, Francisco
SP  - 199
EP  - 210
VL  - 61
IS  - 
N2  - 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.<p />  <p>Language: en</p>
LA  - en
SN  - 0019-0578
UR  - http://dx.doi.org/10.1016/j.isatra.2015.11.026
ID  - ref1
ER  -