Nonlinear robust observer design using an invariant manifold approach

Khan, Irfan Ullah; Wagg, DJ; Sims, Neil D.

doi:10.1016/j.conengprac.2016.06.015

Cited by 5 publications

(4 citation statements)

References 41 publications

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“…In order to find out the fault characteristics of inter-turn insulation short circuit, a motor model with inter-turn insulation short circuit is established in this section. The inter-turn short-circuit fault of A-phase winding is analyzed as an example 15 . The schematic diagram of phase A windings with inter-turn short circuit fault is shown in Figure 2.…”

Section: Motor Fault Modelmentioning

confidence: 99%

Servo motor fault detection for construction robot base on observer

jinbao,

ke,

huaitao

et al. 2023

Sixth International Conference on Intelligent Computing, Communication, and Devices (ICCD 2023)

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In this paper, a fault diagnosis scheme based on observer is proposed to solve the problem of servo motor fault in construction robot actuator system. Firstly, the mathematical model is established in abc coordinate system, and Park transformation is introduced to transform abc three-phase symmetry variable into dq coordinate DC through Park transformation, which greatly reduces the modeling complexity in normal state of motor, eliminate redundant motor models. Based on this, the state space equations are constructed and an interval observer is designed. Compared with the traditional Luenberger interval observer, the interval observer proposed in this paper has better decoupling performance in solving the gain matrix, at the same time, it directly improves the robustness of the interval observer and the sensitivity to the fault signal under the electromagnetic interference. Finally, the method is verified on the fault simulation test-bed, which proves the feasibility of the proposed method, and further improves the timeliness of fault detection of servo motor in construction robot actuator system.

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Section: Motor Fault Modelmentioning

confidence: 99%

Servo motor fault detection for construction robot base on observer

jinbao,

ke,

huaitao

et al. 2023

Sixth International Conference on Intelligent Computing, Communication, and Devices (ICCD 2023)

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“…These two dynamic systems are called the upper and lower bound observer of the system (Khan et al, 2016; Raka & Combastel, 2013; Yang et al, 2016; Q. Zhang, 2018).…”

Section: Observer Designmentioning

confidence: 99%

Actuator fault detection for masonry robot manipulator arm with the interval observer

Jinbao

Zhang

Hou

et al. 2022

Journal of Field Robotics

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The main construction method of building wall is artificial masonry, the main problem is that the process is associated with low construction efficiency and poor safety, workers are prone fall from high altitude. The research of automatic masonry robot has become an urgent need. The masonry mechanical arm system is the main executing part of the masonry robot, special attention should be paid to the robot fault. Therefore, it is necessary to establish a suitable model to detect the actuator faults of the manipulator system. In this paper, a dynamic model of manipulator fault is presented and a fault detection scheme of masonry robot manipulator arm is proposed based on the model. The model is simplified by analyzing the state parameters of each joint during robot masonry and the interval observer with more design freedom was designed based on the established mathematical model of actuator faults. In this paper, a joint method for solving S and L matrices is proposed, which avoids the limitation of the traditional method for solving L matrices by twostep. In the presence of external interference, l 1 /H ∞ performance are introduced into the generation process of residual interval, and the interval observer has better disturbance robustness and fault sensitivity. Simulation experiments verify that the scheme can effectively detect the actuator fault of the manipulator, and experiments are carried out on a 6-axis manipulator. The experimental results show that when actuator faults occur at joints 2 and 3, the residual rapidly exceeds the threshold range, which proves the effectiveness of the fault detection scheme designed in this paper.

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“…on the variable determines how the ESO dynamics processes the measurements. Moreover, according to the off-the-manifold dynamics (18) and (38), ∕ plays a key role in the convergence of the estimated states. Hence, we discuss some special cases regarding the design of ∕ .…”

Section: Some Remarks On the Eso Designmentioning

confidence: 99%

“…13,14 The generality of the I&I formulation of the observer design problem, in connection with the Luenberger-type observers, is shown by Ortega and Zhang. 15 I&I observers have been proposed and studied for a wide variety of applications such as Euler-Lagrange systems, 13,16 nonholonomic mechanical systems, 17 nonlinear vibrating systems, 18 attitude-heading reference systems, 19 and systems with time-delayed measurements. 20 The main contribution of this article is to present a geometric framework for the ESO design.…”

Section: Introductionmentioning

confidence: 99%

Immersion and invariance‐based extended state observer design for a class of nonlinear systems

Hosseini-Pishrobat

Keighobadi

Pirastehzad

et al. 2021

Intl J Robust & Nonlinear

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This article presents a novel geometric framework for the design of extended state observers (ESOs) using the immersion and invariance (I&I) method. The ESO design problem of a class of uncertain lower‐triangular nonlinear systems is considered for joint state and total disturbance observation. This problem is formulated as designing a dynamical system, as the observer, along with an appropriately defined manifold in the system‐observer extended state‐space. The ESO convergence translates into the attractivity of this manifold; that is, the convergence of the system‐observer trajectories to a small boundary layer around the manifold. The design of both reduced‐order and full‐order ESOs is studied using the I&I formulation. Moreover, an optimization method based on linear matrix inequalities is proposed to establish the convergence of ESOs. It is shown that the I&I‐based method leads to a unifying framework for the design and analysis of ESOs with linear, nonlinear, and time‐varying gains. Detailed simulations are provided to show the efficacy of the proposed ESOs.

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Nonlinear robust observer design using an invariant manifold approach

Cited by 5 publications

References 41 publications

Servo motor fault detection for construction robot base on observer

Servo motor fault detection for construction robot base on observer

Actuator fault detection for masonry robot manipulator arm with the interval observer

Immersion and invariance‐based extended state observer design for a class of nonlinear systems

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