Adaptive Extended Kalman Filter for Actuator Fault Diagnosis

M. Skriver, Jannes Helck, A. Hasan

Publikation: Kapitel i bog/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Abstrakt

This paper presents an algorithm for actuator fault diagnosis of nonlinear systems. The method is derived under classical uniform complete observability, controllability, and persistent excitation condition. To this end, the fault is modeled as a constant or a piecewise constant parameter vector. The diagnosis algorithm is based on the Extended Kalman Filter (EKF) with an explicit update law for the actuator fault estimation. From a practical point of view, the proposed algorithm can be used for general nonlinearity. To illustrate the effectiveness of the diagnosis algorithm, we present two numerical examples using the models of an autonomous car and a gantry crane.
OriginalsprogEngelsk
Titel2019 4th International Conference on System Reliability and Safety (ICSRS)
Antal sider6
ForlagIEEE
Publikationsdato10. feb. 2020
Sider339-344
ISBN (Trykt)978-1-7281-4782-6
ISBN (Elektronisk)978-1-7281-4781-9
DOI
StatusUdgivet - 10. feb. 2020
BegivenhedInternational Conference on System Reliability and Safety - Rom, Italien
Varighed: 20. nov. 201922. nov. 2019

Konference

KonferenceInternational Conference on System Reliability and Safety
LandItalien
ByRom
Periode20/11/201922/11/2019

Emneord

  • actuators
  • automobiles
  • cranes
  • fault diagnosis
  • Kalman filters
  • mobile robots
  • nonlinear control systems
  • nonlinear filters
  • observers
  • adaptive Extended Kalman Filter
  • actuator fault diagnosis
  • nonlinear systems
  • classical uniform complete observability
  • persistent excitation condition
  • piecewise constant parameter vector
  • actuator fault estimation
  • general nonlinearity
  • autonomous car
  • gantry crane
  • Kalman filter

Fingeraftryk Dyk ned i forskningsemnerne om 'Adaptive Extended Kalman Filter for Actuator Fault Diagnosis'. Sammen danner de et unikt fingeraftryk.

  • Citationsformater

    Skriver, M., Helck, J., & Hasan, A. (2020). Adaptive Extended Kalman Filter for Actuator Fault Diagnosis. I 2019 4th International Conference on System Reliability and Safety (ICSRS) (s. 339-344). IEEE. https://doi.org/10.1109/ICSRS48664.2019.8987708