控制理论(社会学)
非线性系统
执行机构
观察员(物理)
李普希茨连续性
断层(地质)
李雅普诺夫函数
计算机科学
数学
人工智能
控制(管理)
数学分析
物理
量子力学
地震学
地质学
标识
DOI:10.1177/09596518231153228
摘要
This article investigates the finite-time fault-estimation problem for a class of Lipschitz nonlinear systems with actuator faults and unknown input disturbances. Specifically, the original system is preliminarily decoupled into two reduced-order subsystems using a linear nonsingular transformation. A novel finite-time observer is proposed to estimate actuator faults in finite time. Subsequently, the proposed finite-time observer is extended to nonlinear systems with unknown input disturbances to investigate the robust fault-estimation problem. The actuator fault and unknown input disturbance are estimated simultaneously using two finite-time observations. Furthermore, a fault-estimation scheme is designed based on finite-time observers. The finite-time stability of the observers is then analysed using the Moreno–Lyapunov function method. The analytical proofs presented herein demonstrate that estimation errors can converge to a region of zero in finite time. Finally, the effectiveness of the developed finite-time observers and fault-estimation scheme was validated through simulations of a sample single-link flexible-joint robot.
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