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      저자 : Fayçal Ben Hmida (검색결과 2 건)
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        Robust H∞ Sliding Mode Observer Design for Fault Estimation in a Class of Uncertain Nonlinear Systems with LMI Optimization Approach

        Slim Dhahri,Anis Sellami,Fayçal Ben Hmida 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.5

        This paper presents a new approach for the design of robust H∞ sliding mode observer (SMO) for a class of Lipschitz nonlinear systems where both faults and uncertainties are considered. A sufficient condition using linear matrix inequality (LMI) optimization is derived to guarantee the asymptotically stability of the estimation error dynamics and compute the observer gains. A fault estimation scheme is presented where the estimation signal can approximate the fault to some degree of accuracy. Our design approach has some advantages. The Lipschitz constant of the nonlinear term in the system and the disturbance attenuation level are maximized simultaneously through convex multiobjective optimization. For this reason, the Lipschitz constant is suitable to a large class of uncertain nonlinear systems. Moreover, the fault estimation is much more robust against disturbances and nonlinear uncertainty and can preserve the fault signal shape effectively. Finally, a simulation study on a robotic arm system is presented to show the effectiveness of this approach.

      • KCI등재

        Robust Fault Tolerant Control Design for Nonlinear Systems not Satisfying Matching and Minimum Phase Conditions

        Riadh Hmidi,Ali Ben Brahim,Fayçal Ben Hmida,Anis Sellami 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.9

        This paper proposes an adaptive sliding mode fault tolerant control design for lipschitz nonlinear system subject to simultaneous actuator and sensor faults. First, in order to estimate the system states, actuator and sensor faults, only one observer with an adaptive nonlinear gain is required where the minimum phase condition is relaxed to delectability and the matching condition is weakened to become a condition related to the system dimensions. Furthermore, our approach is applicable where there are faults greater than outputs. Next, a virtual sensor technique is developed to replace a failed, missing or corrupted sensor to provide a signal having the same effect of the nominal sensor. Then, this study provides an adaptive sliding mode fault tolerant control to achieve an optimal interaction between observer, virtual sensor and controller models. Thus, using the LMI technique with multiobjective optimization performance, sufficient conditions are derived to ensure the closed-loop Lipschitz nonlinear system stability and guarantee that the Lipschitz set of the adaptive sliding mode observer is a subset of the adaptive sliding mode control Lipschitz set. Two illustrative examples the first is the robotic manipulator model and the second is the longitudinal dynamics of the following vehicle system were performed to verify the effectiveness of the proposed Approach.

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