Fault detection in finite frequency domains for multi‐delay uncertain systems with application to ground vehicle

Abstract

SummaryThis paper is concerned with the actuator fault detection (FD) problem in finite frequency domains for multi‐delay systems subject to time‐varying affine uncertainties. Because of the existence of time‐varying uncertain parameters, the generalized Kalman–Yakubovic–Popov lemma based finite frequency FD filter design approaches cannot be applied. To tackle this difficulty, a new delay‐dependent bounded real lemma (BRL) is established by using Lyapunov theory and Parseval's theorem to characterize the finite frequency disturbance attenuation and fault sensitivity performances. Moreover, via the obtained BRL, convex FD filter design conditions are then derived by constructing a hyperplane tangent. Finally, the effectiveness and advantages of the proposed FD method are illustrated through a simulation example on a ground vehicle. Copyright © 2014 John Wiley & Sons, Ltd.