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http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1752| State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system | |
| Jorge Aurelio Brizuela Mendoza CARLOS MANUEL ASTORGA ZARAGOZA Arturo Zavala Río FRANCISCO VENUSTIANO CANALES ABARCA | |
| Acceso Abierto | |
| Atribución-NoComercial-SinDerivadas | |
| https://doi.org/10.1016/j.isatra.2015.11.026 | |
| LPV systems Time-varying parameter Actuator fault detection Actuator fault estimation State estimation | |
| "This paper deals with an observer design for Linear Parameter Varying (LPV) systems with high-order time-varying parameter dependency. The proposed design, considered as the main contribution of this paper, corresponds to an observer for the estimation of the actuator fault and the system state, considering measurement noise at the system outputs. The observer gains are computed by considering the extension of linear systems theory to polynomial LPV systems, in such a way that the observer reaches the characteristics of LPV systems. As a result, the actuator fault estimation is ready to be used in a Fault Tolerant Control scheme, where the estimated state with reduced noise should be used to generate the control law. The effectiveness of the proposed methodology has been tested using a riderless bicycle model with dependency on the translational velocity v, where the control objective corresponds to the system stabilization towards the upright position despite the variation of v along the closed-loop system trajectories." | |
| Elsevier | |
| 2016 | |
| Artículo | |
| Jorge Aurelio Brizuela Mendoza, Carlos Manuel Astorga Zaragoza, Arturo Zavala Río, Leo Pattalochi, Francisco Canales Abarca, State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system, ISA Transactions, Volume 61, 2016, Pages 199-210. | |
| MATEMÁTICAS | |
| Versión revisada | |
| submittedVersion - Versión revisada | |
| Aparece en las colecciones: | Publicaciones Científicas Control y Sistemas Dinámicos |
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| Fichero | Tamaño | Formato | |
|---|---|---|---|
| ISATransactions61(2016)199.pdf | 2.05 MB | Adobe PDF | Visualizar/Abrir |