An adaptive pseudo-inverse method for the fault-tolerant output allocation in linear observers with redundant sensors

Andrea Cristofaro (1) , Luca Zaccarian (2)

1 E-MOTION - Geometry and Probability for Motion and Action
2 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande

We address the problem of output redundancy in linear plants, wherein the presence of redundant sensors is motivated by an unknown bias or fault affecting each sensor output. In this context, we address the design problem of a nonlinear observer consisting in a linear Luenberger structure augmented with an adaptive weighted pseudo-inverse combination of the available measurements. We characterize a number of properties of the proposed scheme and under certain conditions we establish local asymptotic stability of a certain attractor where the estimation error is zero and the fault is completely rejected. Simulation results are also given to show the potential behind the proposed solution.

Domaines: Automatique / Robotique

Andrea Cristofaro, Luca Zaccarian. An adaptive pseudo-inverse method for the fault-tolerant output allocation in linear observers with redundant sensors. IEEE 55th Conference on Decision and Control (CDC 2016), Dec 2016, Las Vegas, United States. 6p., ⟨10.1109/CDC.2016.7799098⟩. ⟨hal-01851154⟩