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Adaptive observer-based fault diagnosis for sensor in a class of MIMO nonlinear system

This paper presents a novel sensor parameter fault diagnosis method for generally multiple-input mutiple-output (MIMO) affine nonlinear systems based on adaptive observer. Firstly, the affine nonlinear systems are transformed into the particular systems via diffeomorphic transformation using Lie derivative. Then, based on the techniques of high-gain observer and adaptive estimation, an adaptive observer structure is designed with simple method for jointly estimating the states and the unknown parameters in the output equation of the nonlinear systems. And an algorithm of the fault estimation is derived. The global exponential convergence of the proposed observer is proved succinctly. Also the proposed method can be applied to the fault diagnosis of generally affine nonlinear systems directly by the reversibility of aforementioned coordinate transformation. Finally, a numerical example is presented to illustrate the efficiency of the proposed fault diagnosis scheme.