约束多传感器线性系统的RMPC容错控制

针对一类约束多传感器线性故障系统，提出了一种基于鲁棒预测控制策略的容错控制方案．首先为多传感器线性系统设计了观测器，然后离线设计不变集列，使得时变的状态估计误差存在于相应的不变集列中，利用不变集的理论提出了一种新的故障检测的方法，最后基于鲁棒预测控制策略为故障系统设计了容错控制器，给出了闭环系统鲁棒稳定性的证明．仿真结果证明了方法的可行性。

RMPC Fault Tolerant Control of Constrained Multi-sensor Linear Systems

In this paper,for a class of constrained multi-sensor linear fault system,we propose a fault-tolerant control scheme based on robust predictive control strategy.Firstly,the observer is designed for multi-sensor linear systems,then,invariant set sequences is designed off-line,and the time-varying state estimation error exists in the corresponding invariant set sequences.A new fault detection method is proposed based on the invariant set theory.Lastly,we design fault-tolerant controller for fault system based on robust predictive control strategy,and the closed-loop system robust stability is proved.The simulation results show that the method is feasible.