Fault Estimation for Nonlinear Dynamic System Based on the Second-Order Sliding Mode Observer

作者：Hu Zhenggao^*; Zhao Guorong; Zhang Lei; Zhou Dawang

来源：Circuits, Systems, and Signal Processing, 2016, 35(1): 101-115.

DOI：10.1007/s00034-015-0060-2

• Fault estimation
• Nonlinear dynamic system
• Super-twisting algorithm
• Second-order sliding mode observer
• Lyapunov function

This paper is concerned with the problem of fault estimation for a class of Lipschitz nonlinear systems. In order to settle the chattering problem caused by traditional sliding mode observer for fault estimation, a second-order sliding mode observer is proposed on the basis of the super-twisting algorithm. Firstly, linear coordinate transformations are introduced to decouple the fault signal from the system. Secondly, the Lyapunov function approach is applied to derive the criteria guaranteeing the stability of the observer error dynamic system. The obtained results eliminate the cumbersome proving process for the stability of the super-twisting algorithm by the geometric method. Thirdly, an estimation of the fault is generated by the proposed second-order sliding mode observer. Furthermore, only the output information of the system and observer is necessary for fault estimation. Finally, a robotic arm system is employed to show the effectiveness of the proposed fault estimation method.

• 出版日期2016-1
• 单位中国人民解放军海军航空工程学院