Comparison of four state observer design algorithms for MIMO system

Vinodh, K.; Jerome, Jovitha; Ayyappan, S.

doi:10.2478/acsc-2013-0015

Cited by 18 publications

(10 citation statements)

References 10 publications

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“…So, model-based Fault Detection (FD) techniques could help at avoiding these issues. The common approaches of the model-based FD are the Observer-based method [4][5][6], parameter estimation-based method [9], [3], and parity equation method [7][8], however, the most common approaches are observer-based. An observer-based method is an analytical approach, which has achieved many results in the field of fault detection of electrical motors due to the sturdy ability of fault isolation and extraction [1].…”

Section: Introduction a Motivationmentioning

confidence: 99%

Observer-Based Fault Detection Approach Using Fuzzy Adaptive Poles Placement System With Real-Time Implementation

et al. 2021

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The conventional methods of observer poles placement in sensor fault detection usually adopt the trial-and-error methods. These methods cannot achieve global optimal performance because of their fixed poles placement and it leads to an observer with constant parameters, which could be reducing the system performance. Therefore, this paper proposes a fuzzy-based observer tuning method to optimize and adapt the selection of poles locations to determine the optimal gains of the observer, and it is experimentally applied to a composite sensor fault detection. Fuzzy logic is a promising method that could overcome the trial-and-error method challenges by introducing better adaptation and system robustness. The proposed observer structure includes adaptive tuning corresponding to an unknown input. Utilizing self-tuning for the observer correction stage, the gain is going to be updated online using the proposed fuzzy adaptive poles placement (FAPP) system. This paper validated the system simulation by implementing fault detection algorithms by using a real-time embedded observer-based system. The experimental results demonstrate the effectiveness of the proposed fuzzy-based observer schemes at detecting sensor faults in the Brushless DC (BLDC) motors, with significantly better performance than conventional counterparts' methodologies. The experiments indicate that the average estimation error is 0.146, which less by 43.8% than was obtained for high levels of noise and disturbances compared with the traditional Luenberger observer approach.

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Section: Introduction a Motivationmentioning

confidence: 99%

Observer-Based Fault Detection Approach Using Fuzzy Adaptive Poles Placement System With Real-Time Implementation

et al. 2021

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“…Hence, observer based technique is utilized in this paper to reconstruct such state variables. Again, utilization of sensors for measuring all parameters is a costly process and adds extra hardware [ 5 ].…”

Section: Introductionmentioning

confidence: 99%

Improved Active Disturbance Rejection Control for Trajectory Tracking Control of Lower Limb Robotic Rehabilitation Exoskeleton

Aole¹,

Elamvazuthi

Waghmare³

et al. 2020

Sensors

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Neurological disorders such as cerebral paralysis, spinal cord injuries, and strokes, result in the impairment of motor control and induce functional difficulties to human beings like walking, standing, etc. Physical injuries due to accidents and muscular weaknesses caused by aging affect people and can cause them to lose their ability to perform daily routine functions. In order to help people recover or improve their dysfunctional activities and quality of life after accidents or strokes, assistive devices like exoskeletons and orthoses are developed. Control strategies for control of exoskeletons are developed with the desired intention of improving the quality of treatment. Amongst recent control strategies used for rehabilitation robots, active disturbance rejection control (ADRC) strategy is a systematic way out from a robust control paradox with possibilities and promises. In this modern era, we always try to find the solution in order to have minimum resources and maximum output, and in robotics-control, to approach the same condition observer-based control strategies is an added advantage where it uses a state estimation method which reduces the requirement of sensors that is used for measuring every state. This paper introduces improved active disturbance rejection control (I-ADRC) controllers as a combination of linear extended state observer (LESO), tracking differentiator (TD), and nonlinear state error feedback (NLSEF). The proposed controllers were evaluated through simulation by investigating the sagittal plane gait trajectory tracking performance of two degrees of freedom, Lower Limb Robotic Rehabilitation Exoskeleton (LLRRE). This multiple input multiple output (MIMO) LLRRE has two joints, one at the hip and other at the knee. In the simulation study, the proposed controllers show reduced trajectory tracking error, elimination of random, constant, and harmonic disturbances, robustness against parameter variations, and under the influence of noise, with improvement in performance indices, indicates its enhanced tracking performance. These promising simulation results would be validated experimentally in the next phase of research.

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“…Although there exist many strategies to construct modelbased fault detection, observer techniques are still widely used (Simani et al, 2013;Poor, 2013;Eissa et al, 2015b;Frank and Ding, 1997;Luenberger, 1971). Different algorithms of observers were developed such as Luenberger observer, Kalman observer, unknown input observer, sliding mode observer (Ellis, 2002;Liu and Collins, 2006;Vinodh et al, 2013).…”

Section: Introductionmentioning

confidence: 99%

“…Many recent works studied observer developments and modifications (Eissa et al, 2015b;Vinodh et al, 2013;Ruderman and Iwasaki, 2014;Alkaya and Eker, 2014;Sobhani and Poshtan, 2012). A bunch of researchers considered FD techniques, where the rest tackled control aspects.…”

Section: Introductionmentioning

confidence: 99%

New Model-Based Fault Detection Approach using Black Box Observer

Eissa

Darwish

Bassiuny

2019

Journal of Mechatronics and Robotics

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Most of the emerging engineering systems lack the presence of explicit physical insights or prior knowledge that clearly depicts the model. In such cases, the conventional observer-based fault detection is difficult to be employed because of its observer gain tuning. Herein, black box behaviors arose as a promising trend that could overcome those challenges that appears due to lacking the physical insights. Thus, this work targeted designing a reliable observer based on black box concept. The proposed observer design considers observer gain tuning, regardless the mathematical representation of the plant. Extensive simulation work has been conducted in order to verify the effectiveness of the proposed black box observer design. The results performed on DC motor advocate that the proposed black box observer operates with significantly better performance than conventional counterparts' methodologies.

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Comparison of four state observer design algorithms for MIMO system

Cited by 18 publications

References 10 publications

Observer-Based Fault Detection Approach Using Fuzzy Adaptive Poles Placement System With Real-Time Implementation

Observer-Based Fault Detection Approach Using Fuzzy Adaptive Poles Placement System With Real-Time Implementation

Improved Active Disturbance Rejection Control for Trajectory Tracking Control of Lower Limb Robotic Rehabilitation Exoskeleton

New Model-Based Fault Detection Approach using Black Box Observer

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