Three-Stage Zonotopic Kalman Filter-Based H ∞ Augmented State Observer for Time-Delay System With Actuator Fault
提出一种基于三级区域卡尔曼滤波的H∞增广状态观测器，用于含执行器故障的时滞系统的状态估计与故障检测，通过增广系统解耦状态延迟和故障，并最小化区域大小以缩小估计区间。
A novel state estimation and fault detection (FD) method with a three-stage zonotopic Kalman filter (TS-ZKF)-based <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">H</i><sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> augmented state observer is proposed for a time-delay system with an actuator fault. First, the time-delay system is augmented to decouple the state delay and actuator fault. Second, an observer is designed for the augmentation system by using the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">H</i><sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> performance index, and the interval of state estimation is obtained. Then, the size of the zonotope is minimized to further reduce the state estimation residual and to narrow the interval. The actuator fault estimation and its bounds of the original system are extracted from the augmented state estimate vector. Finally, a numerical simulation and a case on the buck–boost circuit both verify the conservatism and accuracy of the proposed algorithm.