Robust nonlinear observer design for actuator fault detection in diesel engines

Boulaid Boulkroune; Issam Djemili; Abdel Aitouche; Vincent Cocquempot

doi:10.2478/amcs-2013-0042

Abstract

This paper is concerned with actuator fault detection in nonlinear systems in the presence of disturbances. A nonlinear unknown input observer is designed and the output estimation error is used as a residual for fault detection. To deal with the problem of high Lipschitz constants, a modified mean-value theorem is used to express the nonlinear error dynamics as a convex combination of known matrices with time-varying coefficients. Moreover, the disturbance attenuation is performed using a modified H_∞ criterion. A sufficient condition for the existence of an unknown input observer is obtained using a linear matrix inequality formula, and the observer gains are obtained by solving the corresponding set of inequalities. The advantages of the proposed method are that no a priori assumption on the unknown input is required and that it can be applied to a large class of nonlinear systems. Performances of the proposed approach are shown through the application to a diesel engine model.

References

Albrecht, A., Chauvin, J., Lafossas, F., Potteau, S. and Corde, G. (2006). Development of highly premixed combustion diesel model: From simulation to control design, SAE 2006 World Congress & Exhibition, Detroit, MI, USA.10.4271/2006-01-1072
Search in Google Scholar
CARB (1993). California’s OBD-II Regulation (Section 1968.1 Title 13, California Code of Regulations), Resolution 93-40, July 9, pp. 220.7-220.12(h).
Search in Google Scholar
Ceccarelli, R., Canudas-de Wit, C., Moulin, P. and Sciarretta, A. (2009). Model-based adaptive observers for intake leakage detection in diesel engines, IEEE American Control Conference(ACC 09), St. Louis, MO, USA, pp. 1128-1133.
Search in Google Scholar
Ceccarelli, R., Moulin, P. and Canudas-de Wit, C. (2009). Robust strategy for intake leakage detection in diesel engines, IEEE Control Applications (CCA), IntelligentControl (ISIC), Saint Petersburg, Russia, pp. 340-345.
Search in Google Scholar
Chen, W., Khan, A.Q., Abid, M. and Ding, S.X. (2011). Integrated design of observer based fault detection for a class of uncertain nonlinear systems, InternationalJournal of Applied Mathematics and Computer Science21(3): 423-430, DOI: 10.2478/v10006-011-0031-0.10.2478/v10006-011-0031-0
Search in Google Scholar
Chen, W. and Saif, S. (2006). Unknown input observer design for a class of nonlinear systems: An LMI approach, IEEEAmerican Control Conference, Minneapolis, MN, USA, pp. 834-38.
Search in Google Scholar
Darouach, M., Zasadzinski, M. and Xu, S. J. (1994). Full-order observers for linear systems with unknown inputs, IEEETransactions on Automatic Control 39(3): 607-609.10.1109/9.280770
Search in Google Scholar
Ding, X., Frank, P.M. and Guo, L. (1990). Nonlinear observer design via extended observer canonical form, Systems andControl Letters 15(4): 313-322.10.1016/0167-6911(90)90104-3
Search in Google Scholar
Djemili, I., Aitouche, A. and Cocquempot, V. (2011a). Adaptive observer for intake leakage detection in diesel engines described by Takagi-Sugeno model, 19th MediterraneanConference on Control & Automation (MED 2011), Corfu,Greece, pp. 754-759.10.1109/MED.2011.5983161
Search in Google Scholar
Djemili, I., Aitouche, A. and Cocquempot, V. (2011b). Structural analysis for air path of an automotive diesel engine, IEEE International Conference on Communications,Computing and Control Applications (CCCA’11),Hammamet, Tunisia, pp. 1-6.10.1109/CCCA.2011.6031515
Search in Google Scholar
Gertler, J., Costin,M., Fang, X. and Hira, R. (1995). Mode based diagnosis for automotive engines: Algorithm development and testing on a production vehicle, IEEE Transactions onControl Systems Technology 3(1): 61-69.10.1109/87.370711
Search in Google Scholar
Heywood, J. (1992). Internal Combustion Engine Fundamentals, McGraw-Hill Series in Mechanical Engineering, McGraw-Hill, New York, NY.
Search in Google Scholar
Hou, M. and Muller, P.C. (1992). Design of observers for linear systems with unknown inputs, IEEE Transactions on AutomaticControl 37(6): 871-874.10.1109/9.256351
Search in Google Scholar
Hui, S. and ˙Zak, S.H. (2005). Observer design for systems with unknown inputs, International Journal of Applied Mathematicsand Computer Science 15(4): 431-446.
Search in Google Scholar
Kao, K. and Moskwa, J. (1995). Turbocharged diesel engine modeling for nonlinear engine control and state estimation ASME Journal of Dynamic Systems, Measurement andControl 117(1): 20-30.10.1115/1.2798519
Search in Google Scholar
Kudva, P., Viswanadham, N. and Ramakrishna, A. (1980). Observers for linear systems with unknown inputs, IEEETransactions on Automatic Control 25(1): 113-115.10.1109/TAC.1980.1102245
Search in Google Scholar
Nyberg, M. (2002). Model-based diagnosis of an automotive engine using several types of fault models, IEEE Transactionson Control Systems Technology 10(5): 679-689.10.1109/TCST.2002.801873
Search in Google Scholar
Nyberg, M. and Perkovic, A. (1998). Model based diagnosis of leaks in the air-intake system of an SI-engine, InternationalCongress & Exposition, Detroit, MI, USA.10.4271/980514
Search in Google Scholar
Nyberg, M. and Sutte, T. (2004). Model based diagnosis of the air path of an automotive diesel engine, Control EngineeringPractice 12(5): 513-525.10.1016/S0967-0661(03)00120-5
Search in Google Scholar
Phanomchoeng, G., Rajamani, R. and Piyabongkarn, D. (2011). Nonlinear observer for bounded Jacobian systems, with applications to automotive slip angle estimation, IEEETransactions on Automatic Control 56(5): 1163-1170.10.1109/TAC.2011.2108552
Search in Google Scholar
Saif, M. (1993). A disturbance accommodating estimator for bilinear systems, IEEE American Control Conference(ACC 93), San Francisco, CA, USA, pp. 945-949.
Search in Google Scholar
Seliger, R. and Frank, P.M. (1991). Robust component fault detection and isolation in nonlinear dynamic systems using nonlinear unknown input observers, Proceedings of theIFAC/IMACS Symposium SAFEPROCESS, Baden-Baden,Germany, pp. 313-318.
Search in Google Scholar
Wahlstrom, J. and Eriksson, L. (2011). Modelling diesel engines with a variable-geometry turbocharger and exhaust gas recirculation by optimization of model parameters for capturing non-linear system dynamics, Proceedings of theInstitution of Mechanical Engineers, Part D: Journal of Automobile Engineering 225(7): 960-986.10.1177/0954407011398177
Search in Google Scholar
Yaz, E. and Azemi, A. (1998). Actuator fault detection and isolation in nonlinear systems using LMIs and LMEs, IEEE American Control Conference (ACC 98), Philadelphia,PA, USA, Vol. 3, pp. 1590-1594.
Search in Google Scholar
Zemouche, A. and Boutayeb, M. (2009). Sobolev norms-based state estimation and input recovery for a class of nonlinear systems. design and experimental results, IEEE Transactionson Signal Processing 57(3): 1021-1029.
Search in Google Scholar

Robust nonlinear observer design for actuator fault detection in diesel engines

Abstract

Paradigm

My account