Abstract:

The hign-gain observer with sliding mode used for the actuator robust fault detection is designed for the simulating mapped nonlinear system with unknown disturbances. Firstly, the system is transformed into a whole standard observed system by means of global diffeomorphic coordination transformation. Then, according to the transformed system with the Lipschitz item, the high-gain observer with sliding mode is designed, the calculating method of plus gene is presented and the condition of convergence on the state error of the observer is put forward and proved according to Lyaponov stable theories. Meanwhile, the sliding control item is designed to restrain the effect of disturbances and the condition of convergence on the sliding which makes the observer robust is presented and testified. Finally, an example of a three order motor model is given to testify the effectiveness of the proposed method.