Sliding mode observer design for sensor fault diagnostic of a mechatronics system
Loading...
Date
2018-06
Authors
Muhammad Amirul Asyraf Saidin
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
Fault detection plays an important role in the manufacturing area as it can help the
manufacturer to detect the faulty system earlier before it can affect the overall processes.
Fault detection and compensation are even more crucial in an interconnected system, giving
an examples of multi-robot manipulators are employed to perform cooperative task.
Interconnectedness within the system which means each subsystem is depend on each other
in order to do the task given, an estimation system must be deployed which can help to
estimate the health of subsystem condition. In this project, a linear observer is studied at first
and simulated under a noisy encoder feedback scenario. The study is further extended to the
formulation of robust nonlinear observer utilizing the theory of sliding mode. The state-space
model representing the dynamic of the studied DC motor is transformed first into a nominal
canonical form before the robust nonlinear observer is designed. The fault type introduced in
an encoder sensor feedback is in a form of white Gaussian noise (bounded). Simulation of
the robust nonlinear observer in reconstructing the corrupted sensor feedback rereads the
successful convergence to the true position value. This is further supported by
experimentation using the real DC motor which is equipped with an encoder. The fault is
introduced via hardware-in-the-loop concept using Simulink block set.