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研究生：	鄭陳鴻 Zheng, Chen-Hong
論文名稱：	利用卡爾曼適應性觀測器於錯誤偵測與性能恢復 Fault detection and performance recovery with Kalman filter-based adaptive observer
指導教授：	蔡聖鴻 Tsai, Sheng-Hong Jason
學位類別：	碩士 Master
系所名稱：	電機資訊學院 - 電機工程學系 Department of Electrical Engineering
論文出版年：	2005
畢業學年度：	93
語文別：	英文
論文頁數：	72
中文關鍵詞：	卡爾曼適應性觀測器
外文關鍵詞：	Kalman filter-based adaptive observer
相關次數：	點閱：85 下載：1
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　　本論文提出一個創新的卡爾曼適應性觀測器，利用卡爾曼濾波器的高增益特性，無論未知參數有多少個都可以很容易估測。根據卡爾曼適應性觀測器，我們分別提出了控制器與狀態錯誤的偵測與恢復方法。對於控制器錯誤，我們使用輸入補償的方式恢復系統。此外，最佳線性化被使用在非線性系統的控制器錯誤偵測與恢復。對於狀態錯誤，控制器重新組態方法被用來恢復系統追蹤能力。在本論文中，我們還使用了數位再設計方法來設計資料取樣系統的控制器。

　A novel Kalman filter-based adaptive observer for the sampled-data system is proposed in this thesis. With high gain property of Kalman filter, no matter how large the dimension of unknown parameter is, the unknown parameter can be estimated optimally. We propose methods of actuator and state fault detection, respectively. With the estimated faults, we use the newly propose input compensation method to solve actuator faults. Additionally, the optimal linearization is used to obtain locally optimal linear models, so that the actuator fault detection and performance recovery of a nonlinear system is accomplished. For state faults, a controller reconfiguration method is applied to solve state fault. In this thesis, we also introduce a prediction-based digital redesign method to develop the sampled-data controller.

中文摘要……………………………………………………………………………… I
Abstract……………………………………………………………………………… II
List of Figures………………………………………………………………………… IV

Chapter
1 Introduction
  1.1  Introduction…………………………………………………………………1-1
  1.2  Organization of the thesis………………………………………………1-4

2 Kalman Filter-based Adaptive Observer	2-1
  2.1 Adaptive observer for linear time-varying systems…………………2-2
  2.2 Derivation of Kalman filter-based adaptive observer………………2-4
  2.3 Property of Kalman filter-based adaptive observer…………………2-10

3 Actuator Fault Detection and Performance Recovery Technique	       3-1
  3.1 Introduction………………………………………………………………… 3-2
  3.2 The design of controller with digital redesign method……………3-3
  3.3 Methodology of actuator fault detection and performance 
      recovery withinputcompensation………………………………………… 3-7
  3.4 Actuator fault detection and performance recovery of nonlinear 
      time varying systems……………………………………………………… 3-13
      3.4.1 Optimal linearization of nonlinear time varying systems…3-14
      3.4.2 Actuator fault detection and performance recovery of 
            nonlinear time varying systems with optimal linearization…3-18
  3.5 Illustrative Examples…………………………………………………………	3-21

4  State Fault Detection and Performance Recovery Technique	         4-1
   4.1  Introduction……………………………………………………………… 	4-2
   4.2  State fault detection with Kalman filter-based adaptive      
        observer…………………………………………………………………………4-3
   4.3  Performance recovery with controller reconfiguration method……	4-10
   4.4  Illustrative example……………………………………………………….	4-13

5 Conclusions	                                                      5-1
References
Acknowledgements

                                    

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校內：2006-07-07公開
校外：2007-07-07公開

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