This paper presents a sliding-mode observer based method of actuator fault detection for a class of Lipschitz nonlinear systems with unknown disturbances.Through equivalent state transformation,the state equation of the system is partitioned into two parts.The first sub-system is involved with both actuator faults and unknown disturbances while the second is only involved with actuator faults.Then we design sliding-mode observer for the first subsystem and a linear observer for the second sub-system.When no actuator faults occur,the observers are able to track system state asymptotically.And the output error can be viewed as residual to detect actuator faults.By using such a detection method,the strong conditions to reconstruct faults based on equivalent output injection can be removed.Simulation results to a simplified dynamics of High Incidence Research Model (HIRM) spacecraft show that the proposed method is effective.
NETL
NSTL
维普
万方数据
