Abstract
In this paper, a robust sliding mode observer (SMO) design problem is investigated for the purpose of reconstruction of actuator faults in a class of uncertain linear systems. A sufficient condition for the existence and the stability of the SMO is established by solving a set of linear matrix inequalities (LMIs). Also, a new design method for the robust SMO with H∞ techniques is proposed to guarantee asymptotic stability of the estimation error dynamics and maximize the disturbance attenuation level. The observer gain and the admissible disturbance attenuation level can be obtained through convex LMI optimization. A discontinuous switched gain is determined to make sure that the reaching condition holds. Finally, a numerical example of vertical takeoff and landing (VTOL) aircraft is given to show the effectiveness of the designed methods. Key words: Uncertain linear systems, sliding mode observer, H∞ filtering, linear matrix inequality (LMI) optimization, fault reconstruction.
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