An adaptive pseudo-inverse method for the fault-tolerant output allocation in linear observers with redundant sensors

Andrea Cristofaro 1 Luca Zaccarian 2
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
2 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : We address the problem of output redundancy in linear plants, wherein the presence of redundant sensors is motivated by an unknown bias or fault affecting each sensor output. In this context, we address the design problem of a nonlinear observer consisting in a linear Luenberger structure augmented with an adaptive weighted pseudo-inverse combination of the available measurements. We characterize a number of properties of the proposed scheme and under certain conditions we establish local asymptotic stability of a certain attractor where the estimation error is zero and the fault is completely rejected. Simulation results are also given to show the potential behind the proposed solution.
Type de document :
Communication dans un congrès
IEEE 55th Conference on Decision and Control (CDC 2016), Dec 2016, Las Vegas, United States. IEEE, 6p., 2016, 2016 IEEE 55th Conference on Decision and Control (CDC). 〈10.1109/CDC.2016.7799098〉
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https://hal.laas.fr/hal-01851154
Contributeur : Luca Zaccarian <>
Soumis le : mercredi 12 septembre 2018 - 15:08:47
Dernière modification le : samedi 27 octobre 2018 - 01:26:36
Document(s) archivé(s) le : jeudi 13 décembre 2018 - 15:03:20

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Andrea Cristofaro, Luca Zaccarian. An adaptive pseudo-inverse method for the fault-tolerant output allocation in linear observers with redundant sensors. IEEE 55th Conference on Decision and Control (CDC 2016), Dec 2016, Las Vegas, United States. IEEE, 6p., 2016, 2016 IEEE 55th Conference on Decision and Control (CDC). 〈10.1109/CDC.2016.7799098〉. 〈hal-01851154〉

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