Fault detection and isolation for nonlinear non-affine uncertain systems via sliding-mode techniques

This paper considers the fault detection and isolation problem for nonlinear uncertain non-affine systems. The proposed approach is based on an output-feedback stabilisation strategy, which exploits a Luenberger-like nonlinear observer. As a main result, a residual-based fault detection and isolation approach is developed, which relies on the measurable output, some of its derivatives, which are provided exactly by a uniform high-order sliding-mode differentiator, and the observer's state. The proposed methodology is able to detect some possible components and actuators faults, and to isolate, under some mild conditions, the actuator faults from those ones in components. Simulation results illustrate the feasibility of the proposed approach.