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Robust state estimation for switched systems : application to fault detection

Abstract : This thesis deals with state estimation and fault detection for a class of switched linear systems. Two interval state estimation approaches are proposed. The first one is investigated for both continuous and discrete-time linear parameter varying switched systems subject to measured polytopic parameters. The second approach is concerned with a new switching signal observer, combining sliding mode and interval techniques, for a class of switched linear systems with unknown input. State estimation remains one of the fundamental steps to deal with fault detection. Hence, robust solutions for fault detection are considered using set-membership theory. Two interval techniques are achieved to deal with fault detection for discrete-time switched systems. First, a commonly used interval observer is designed based on an L∞ criterion to obtain accurate fault detection results. Second, a new interval observer structure (TNL structure) is investigated to relax the cooperativity constraint. In addition, a robust fault detection strategy is considered using zonotopic and ellipsoidal analysis. Based on optimization criteria, the zonotopic and ellipsoidal techniques are used to provide a systematic and effective way to improve the accuracy of the residual boundaries without considering the nonnegativity assumption. The developed techniques in this thesis are illustrated using academic examples and the results show their effectiveness.
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Submitted on : Thursday, October 7, 2021 - 10:41:11 AM
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  • HAL Id : tel-03369154, version 1


Chaima Zammali. Robust state estimation for switched systems : application to fault detection. Robotics [cs.RO]. Sorbonne Université, 2020. English. ⟨NNT : 2020SORUS124⟩. ⟨tel-03369154⟩



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