Observer design for sensor and actuator fault estimation applied to polynomial LPV systems: a riderless bicycle study case

ABSTRACT

The present paper addresses an observer design for fault estimation applied to polynomial linear parameter varying (LPV) systems. The main contribution corresponds to a design to provide the estimation of both actuator and sensor faults acting on the system, modelled as additive faults taking place at any time and simultaneously, inclusively. The observer design includes a boundary factor in order to guarantee the estimation error convergence to zero despite the fault occurrence. Simulation results showing the effectiveness of the proposed observer by considering a riderless bicycle LPV model, which depends on the translational velocity of the vehicle, are provided.

KEYWORDS:

• Polynomial LPV system
• translational velocity
• sensor and actuator fault
• fault estimation
• boundary factor

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Notes on contributors

J. A. Brizuela Mendoza

J. A. Brizuela Mendoza received his Ph.D. in Electronics and his M.Sc. in Mechatronics from the National Center of Research and Technological Development (CENIDET) in Mexico. He has been working at Guadalajara University as a full-time professor since 2016. His research interests are the applications of Linear Parameter Varying Systems, TS systems and Fault Tolerant Control.

F. D. J. Sorcia Vázquez

F. D. J. Sorcia Vázquez received his Ph.D. in Electronics and his M.Sc. in Electronics from the National Center of Research and Technological Development (CENIDET) in Mexico. He has been working at Guadalajara University as a full-time professor since 2017. His research interests are focused on Model Predictive Control and Distributed Model Predictive Control.

C. H. Guzmán Valdivia

C. H. Guzmán Valdivia received his Ph.D. and M.Sc. in Mechatronics Engineering from the National Center of Research and Technological Development (CENIDET) in Mexico. He has been working at Polytechnic University of Zacatecas as full-time professor since 2010. His research interests are Robotics, Robust Control, and Mechatronics Design.

R. Osorio Sánchez

R. Osorio Sánchez received his Ph.D. and his M.Sc. in Electronics from the National Center of Research and Technological Development (CENIDET) in Mexico. He has been working at Guadalajara University as a full-time professor since 2014. His research interest is the application of control strategies to Power electronics and Mechatronics systems.

M. Martínez García

M. Martínez García received his Ph.D. in Educational Research and Innovation from the University of Malaga (UMA) in Spain and his Master's Degree in Information Technology at the University of Guadalajara (UdG) in Mexico. He has been working at Guadalajara University as a full-time professor since 2005. His research interests are the technological innovation, software development and control of mechatronic devices.