Nonlinear sliding mode high-gain observers for fault estimation

Abstract

A robust high gain observer for state and unknown inputs/faults estimations for a special class of nonlinear systems is developed in this article. Ensuring the observability of the faults/unknown inputs with respect to the outputs, the faults can be estimated from the sliding surface. Under a Lipschitz condition for the nonlinear part, the high gain observers are designed under some regularity assumptions. In the sliding mode, the convergence of the estimation error dynamics is proven similar to the analysis of high-gain observers.

Keywords:

• sliding mode observer
• high-gain observer
• fault estimation
• nonlinear observer
• robot-arm
• fault reconstruction

Acknowledgements

This research was supported by Kyungpook National University Research Fund, 2009.

Notes

1. diag[·] represents the block-diagonal of the matrix.