Abstract：For linear time-invariant systems with mismatched unknown inputs, we present an approach to design Fault Detection Observer(FDO) through using the unknown disturbances modelling technique. The unknown disturbances may be decomposed into matched unknown disturbances and mismatched unknown disturbances. Under the assumption that mismatched unknown disturbances can be viewed as a fictitious autonomous dynamical system, an augmented system is obtained by combining the original system model with unknown disturbances model such that the rank condition is satisfied. Then a reduced-order FDO is constructed and the residual is generated which is robust to unknown disturbances while being sensitive to the faults. The proposed method is simulated to an example of a robot sub-system and the stimulation results demonstrate its effectiveness.
韩冬1, 艾红1, 魏玲2. 一类伴有不匹配未知干扰的线性系统的故障检测[J]. 北京交通大学学报, 2018, 42(05): 61-.
HAN Dong1, AI Hong1, WEI Ling2. Fault detection for linear systems with mismatched unknown inputs. Beijing Jiaotong University, 2018, 42(05): 61-.