Design of Sliding Mode Controller Based on Adaptive Fault Diagnosis Observer for Nonlinear Continuous-Time Systems

비선형 연속 시간 시스템을 위한 적응 고장 진단 관측기 기반 슬라이딩 모드 제어기 설계

  • Chang, Seung Jin (Department of Electrical and Electronic Engineering, Yonsei University) ;
  • Choi, Yoon Ho (Department of Electronic Engineering, Kyonggi University) ;
  • Park, Jin Bae (Department of Electrical and Electronic Engineering, Yonsei University)
  • 장승진 (연세대학교 전기전자공학과) ;
  • 최윤호 (경기대학교 전자공학과) ;
  • 박진배 (연세대학교 전기전자공학과)
  • Received : 2013.02.15
  • Accepted : 2013.07.23
  • Published : 2013.09.01


In this paper, we propose an AFDO (Adaptive Fault Diagnosis Observer) and a fault tolerant controller for a class of nonlinear continuous-time system under the nonlinear abrupt actuator faults. Together with its estimation laws, the AFDO which estimates that the actuator faults is designed by using the Lyapunov analysis. Then, based on the designed AFDO, an adaptive sliding mode controller is proposed as the fault tolerant controller. Using Lyapunov stability analysis, we also prove the uniform boundedness of the state, the output and the fault estimation errors, and the asymptotic stability of the tracking error under the nonlinear time-varying faults. Finally, we illustrate the effectiveness of the proposed diagnosis method and the control scheme thorough computer simulations.


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