Optimal Actuator Fault Detection for a TGSCM System Based on Disturbance Compensation


This paper focuses on the detection of actuator faults for a 3-axis gyro-stabilized camera mount (TGSCM) subject to L2-norm bounded disturbances. Initial, the influences of the actuator fault are analyzed and, based mostly on this, the system model with the thought of fault is given. For the aim of fault detection (FD), an observer-primarily based fault detection filter (FDF) is applied to generate the residual, and the sensitivity to fault in addition to robustness to disturbance is introduced. So, the design of FDF will be formulated as an Hi/H∞ optimization problem such that a sensitivity/robustness ratio criterion is maximized. To more improve its robustness, simultaneous FD with disturbance estimation and compensation is taken into account. Finally, experimental results are presented to demonstrate the effectiveness of the proposed methodology. It's shown that higher performance FD can be achieved by using the FD scheme based mostly on disturbance compensation.

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