A Robust Nonlinear Observer-based Approach for Distributed Fault Detection of Input-Output Interconnected Systems

摘要

This paper develops a nonlinear observer-based approach for distributed fault detection of a class of interconnectedudinput–output nonlinear systems, which is robust to modeling uncertainty and measurementudnoise. First, a nonlinear observer design is used to generate the residual signals required for fault detection.udThen, a distributed fault detection scheme and the corresponding adaptive thresholds are designedudbased on the observer characteristics and, at the same time, filtering is used in order to attenuate the effectudof measurement noise, which facilitates less conservative thresholds and enhanced robustness. Finally, audfault detectability condition characterizing quantitatively the class of detectable faults is derived.