Diagnosis of Linear Dynamic Systems: An Approach Based on Sliding Mode Observers

Zhirabok, Alexey; Zuev, Alexander; Shumsky, Alexey

doi:10.1134/s0005117920020022

Cited by 20 publications

(13 citation statements)

References 19 publications

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“…Note that the quantization error/measurement noise of the system can be taken into consideration by modification of the fault identification procedure. The limited space of the paper does not allow us to consider this in full measure; such a problem was considered in [ 38 , 39 ].…”

Section: Practical Examplementioning

confidence: 99%

Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers

Zuev

Zhirabok

Filaretov

et al. 2022

Sensors

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The problem of fault identification in electric servo actuators of robot manipulators described by nonstationary nonlinear dynamic models under disturbances is considered. To solve the problem, sliding mode observers are used. The suggested approach is based on the reduced order model of the original system having different sensitivity to faults and disturbances. This model is realized in canonical form that enables relaxing the limitation imposed on the original system. Theoretical results are illustrated by practical example.

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Section: Practical Examplementioning

confidence: 99%

Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers

Zuev

Zhirabok

Filaretov

et al. 2022

Sensors

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“…Sliding mode observers are often used to solve the fault identification problem [3,25,26]. In [3,25], such observers are constructed on the basis of the original system and then IWR to the disturbances is achieved.…”

Section: Applicationsmentioning

confidence: 99%

“…In [3,25], such observers are constructed on the basis of the original system and then IWR to the disturbances is achieved. In contrast to this approach, we suggest at first to construct system (8) of minimal dimension IWR to the disturbances and then design sliding mode observer based on this system [26]. This allows to reduce sliding mode observer complexity and relaxed the limitation imposed on the original system.…”

Section: Applicationsmentioning

confidence: 99%

The Problem of Invariance in Nonlinear Discrete-Time Dynamic Systems

Zhirabok¹

2020

Symmetry

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The paper considers the problem of invariance with respect to the unknown input for discrete-time nonlinear dynamic systems. To solve the problem, the algebraic approaches, called algebra of functions and logic–dynamic approach, are used. Such approaches assume that description of the system may contain non-differentiable functions. Necessary and sufficient conditions of solvability the problem are obtained. Moreover, procedures which find the appropriate functions and matrices are developed. Some applications of such invariance in fault detection and isolation, disturbance decoupling problem, and fault-tolerant control are considered.

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“…It is proposed to carry out the estimation of the errors values in the signals received from the angular velocity sensor and the deviations of the thrusters parameters from their nominal values due to the appearance of the faults using the additional SMOs. Moreover, these observers should be built on the basis of the reduced models [19][20][21] of the original system (1), which will reduce the complexity of the implementation of the SMOs in comparison with the known works [16,18]. An analysis of the matrix of syndromes S shows that the values of the unknown functions…”

Section: Building Of the Additional Smos For Fault Identificationmentioning

confidence: 99%

“…Thus, it is advisable to construct the reduced models of the original system, taking these observers as a basis. In general, the obtained first-order models will have the form [20] ).…”

Section: Building Of the Additional Smos For Fault Identificationmentioning

confidence: 99%

Development of synthesis method of functional diagnostic system for thrusters of underwater vehicles

2020

Robots in Human Life

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This paper presents a new synthesis method of functional diagnostic system for thrusters of underwater vehicles (UVs). This system provides detection, localization and identification of minor faults in thrusters of the UV. Proposed method involves two main stages. At the first stage, a bank of diagnostic observers is built to detect and localize the emerging faults. At the same time, each observer is constructed according to a special procedure in such a way as to be sensitive to a different set of the possible faults. At the second stage, the additional observers working in a sliding mode regime are synthesized in order to accurately estimate error values in signals obtained from the UV thruster sensors, and to evaluate deviations of the thruster parameters from their nominal values due to the faults. The results of the simulation show the efficiency and high quality of all synthesized observers.

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Diagnosis of Linear Dynamic Systems: An Approach Based on Sliding Mode Observers

Cited by 20 publications

References 19 publications

Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers

Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers

The Problem of Invariance in Nonlinear Discrete-Time Dynamic Systems

Development of synthesis method of functional diagnostic system for thrusters of underwater vehicles

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