Abstract
In this paper, the problems of fault detection and estimation for nonlinear dynamic systems are considered by using fault detection observer and adaptive fault diagnosis observer. Based on Lyapunov stability theory and linear matrix inequality (LMI) techniques, a new sufficient condition in terms of LMIs for the proposed problem is derived. At the same time, we get the adaptive fault estimation algorithm. The LMI condition can be easily solved by MATLAB LMI toolbox. Finally, a flexible joint robotic example is given to illustrate the efficiency of the proposed approach.
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