|Robust Decentralized Fault Estimation for Loss of Actuator Effectiveness of Multi-motor Web-winding System
Xiaoyan Chu, Xiaohong Nian*, Miaoping Sun, Haibo Wang, and Hongyun Xiong
International Journal of Control, Automation, and Systems, vol. 17, no. 3, pp.691-704, 2019
Abstract : "This paper develops a method estimating the actuator power loss faults for the multi-motor web-winding
system. Firstly, the web-winding system is regarded as a synthetic system with several dynamic subsystems and
their dynamic models are given. Then, the nonlinear coordinate transformation is introduced to obtain a transformed
system with block triangular structure and the interconnections among subsystems are allowed. Next, a decentralized
adaptive high-gain observer with sliding-mode is designed for the obtained transformed system to estimate the
system actuator power loss faults. Meanwhile, the estimation error dynamics can be obtained. Sufficient conditions
of asymptotic stability for estimation error system are derived by Lyapunov theory, and the sliding-mode gain and
fault estimation law are achieved. After that, the fault estimation observer for original multi-motor web-winding
system is designed by inverse coordinate transformation. Finally, the simulations and analysis are implemented on
the three-motor web-winding system to verify the effectiveness of the proposed method."
"Adaptive observer, asymptotic stability, high-gain observer with sliding mode, multi-motor webwinding system, nonlinear diffeomorphism transformation."