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针对同时具有未知非线性函数(包括系统不确定性、外部干扰等)和执行器故障的非线性系统,提出基于区间观测器的故障检测方法.首先,在假定执行器故障不出现的前提下,基于未知非线性函数的上下界信息,提出两种区间观测器设计方法;然后,利用这两种区间观测器的输出和系统的真实输出,构造可以对执行器故障进行检测的残差,以此实现基于区间观测器的执行器故障检测.最后,通过两个仿真例子验证了所提出方法的正确性和有效性.
Aiming at the nonlinear system with unknown nonlinear functions (including system uncertainties, external disturbances, etc.) and actuator failures, a fault detection method based on interval observer is proposed.First, under the assumption that actuator failure does not occur, Based on the upper and lower bounds of the unknown nonlinear function, two design methods of interval observer are proposed. Then, the residuals of the actuator fault can be constructed by using the output of the two interval observers and the real output of the system. The actuator fault detection based on interval observer is implemented.Finally, two simulation examples are given to verify the correctness and effectiveness of the proposed method.