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

This paper focuses on the detection of actuator faults for a three-axis gyro-stabilized camera mount (TGSCM) subject to L2-norm bounded disturbances. First, the influences of the actuator fault are analyzed and, based on this, the system model with the considered fault is given. For the purpose of fault detection (FD), an observer-based fault detection filter (FDF) is applied to generate the residual, and the sensitivity to fault as well as robustness to disturbance is introduced. As a result, the design of FDF can be formulated as an Hi/H∞optimization problem such that a sensitivity/robustness ratio criterion is maximized. To further improve its robustness, simultaneous FD with disturbance estimation and compensation is considered. Finally, experimental results are presented to demonstrate the effectiveness of the proposed method. It is shown that higher performance FD can be achieved by using the FD scheme based on disturbance compensation.