title: State and actuator fault estimation observer design integrated in a riderless bicycle stabilization system.
abstract: This paper deals with an observer design for Linear Parameter Varying (LPV) systems with high-order time-varying parameter dependency. The proposed design, considered as the main contribution of this paper, corresponds to an observer for the estimation of the actuator fault and the system state, considering measurement noise at the system outputs. The observer gains are computed by considering the extension of linear systems theory to polynomial LPV systems, in such a way that the observer reaches the characteristics of LPV systems. As a result, the actuator fault estimation is ready to be used in a Fault Tolerant Control scheme, where the estimated state with reduced noise should be used to generate the control law. The effectiveness of the proposed methodology has been tested using a riderless bicycle model with dependency on the translational velocity v, where the control objective corresponds to the system stabilization towards the upright position despite the variation of v along the closed-loop system trajectories.
authors.affiliation: Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET), Interior Internado Palmira S/N, Col. Palmira, Cuernavaca, Morelos 62490, Mexico. Electronic address: jabriz.cenidet@gmail.com.
authors.forename: Jorge Aurelio
authors.initials: JA
authors.lastname: Brizuela Mendoza
authors.affiliation: Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET), Mexico. Electronic address: astorga@cenidet.edu.mx.
authors.forename: Carlos Manuel
authors.initials: CM
authors.lastname: Astorga Zaragoza
authors.affiliation: Instituto Potosino de Investigación Científica y Tecnológica (IPICYT), Camino a la Presa San José 2055, Col. Lomas 4 sección, 78126. San Luis Potosí, S.L.P., Mexico. Electronic address: azavala@ipicyt.edu.mx.
authors.forename: Arturo
authors.initials: A
authors.lastname: Zavala Río
authors.affiliation: Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET)/École Supérieure des, Sciences et Technologies de L׳Ingénieur de Nancy (ESSTIN), Mexico. Electronic address: leo.pattalochi@gmail.com.
authors.forename: Leo
authors.initials: L
authors.lastname: Pattalochi
authors.affiliation: ABB Corporate Research, Brown Boveri Strasse 6, 5400 Baden, Switzerland. Electronic address: francisco.canales@ch.abb.com.
authors.forename: Francisco
authors.initials: F
authors.lastname: Canales Abarca
keywords: Actuator fault detection; Actuator fault estimation; LPV systems; State estimation; Time-varying parameter