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1、IEEETRANSACTIONSONAUTOMATICCONTROL,VOL.41,NO.I,JULY19961073ActuatorFaultDiagnosis:An11.DETECTIONOBSERVERANDADAPTIVEAdaptiveObserver-BasedTechniqueDIAGNOSTICOBSERVER:ANIDEACASEAssumethatthemultiple-input,multiple-output(MIMO)systemH.WangandS.Daleytobeconsideredisexpressedb
2、yi(t)=Az(t)+Bf(t)u(t)(11Y(t)=c4t)(Z!)Abstract-Thispaperpresentsanovelapproachforthefaultdiagnosisofactuatorsinknowndeterministicdynamicsystemsbyusinganadaptivewherez(t)ER"istheimmeasurablestatevector,u(t)ERn'istheobservertechnique.Systemswithoutmodeluncertaintyareinitiall
3、ymeasurableinputvector,andy(t)ERmisthemeasurableoutputconsidered,followedbyadiscussionofageneralsituationwherethevector,A,B,andCareknownparametermatricesofdimensionsystemissubjectedtoeithermodeluncertaintyorexternaldisturbance.nxn,nxmandmxn,respectively,andf(t)isanrnxrrLU
4、ndertheassumptionthatthesystemstateobservercanbedesignedsuchthattheobservationerrorisstrictlypositivereal(SPR),anadaptivetime-varyingmatrixrepresentingthegainofactuatorsconnectedtodiagnosticalgorithmisdevelopedtodiagnosethefault,andamodifiedu(t).Onlyactuatorfaultsareconsi
5、dered,anditisassumedthattheversionisproposedforthegeneralsystemtoimproverobustness.Thepair(A,C)isobservable.Whennofaultoccurs,wehavemethodisdemonstratedthroughitsapplicationtoasimulatedsecond-ordersystem.f(t):=fH(3wherefffisaknownmatrixandthesubscriptHstandsforhealthyactu
6、ators.ThepurposeoffaultdetectionanddiagnosisisthereforetoI.INTRODUCTIONgenerateanalarmsignalwhenafaultoccursandproduceanaccurateOverthepasttwodecades,muchattentionhasbeenpaidtotheestimateofthematrixfwhichdefinesthefaultybehavior.problemoffaultdetectionanddiagnosisindynami
7、csystems.ThisisbecausethereisanincreasingdemandforhighreliabilityinmanyA.DetectionObserverindustrialprocesses.Manymethodshavethereforebeendeveloped,andexamplesincludetherobustredundancyrelationapproach[4],Todetectthefault,thefollowingobserverisconstructed:theobserver-base
8、dapproaches[SI,[7],[141-[161,identification-basedi(t)=A2(t)+Bfw(t)+Ld(y(t)-i(t))(44methods[8],an
