Robust Generalized Fault Diagnosis Observer Design for Nonlinear Systems with External Disturbances

摘要

This study focuses on the robust generalized fault diagnosis observer design for a nonlinear system with external disturbances and an actuator fault. The robust generalized fault diagnosis observer (RGFDO) with the defined performance index, which can estimate system states and fault signal simultaneously, is designed. Finally, simulations are performed on flexible joint robotic systems to illustrate the effectiveness and applicability of the algorithm proposed.