基于容错观测器的容错控制系统集成设计

针对一类传感器故障的线性控制系统，设计出一个能在故障情况下正确估计出系统真实状态的容错观测器，并在此基础上实现对传感器故障的容错控制。结合某水下自主航行器（AUV）航向控制系统传感器故障的仿真结果验证了所提方案的有效性。

Integrated Design of Fault Tolerant Control System Based on Fault Tolerant Observer

Fault Detection and Diagnosis (FDD) is the first step in fault tolerant control system design. The feature of our design is the integration of FDD with fault tolerant controller, which was rarely done in previous such designs and is different from our way of integration. Our integration is different in that, under sensor failures, we can asymptotically estimate the real states of the system. Asymptotic estimation is discussed in considerable detail in section 2. The integrated design method is observer based. Our fault tolerant observer can do two things: (1) asymptotic estimation of the real states of the system, (2) detection of sensor failures. Our observer, different from generally used one, is able to compensate for fault signal, thus making asymptotic estimation possible. Simulation results of an autonomous underwater vehicle , given in Figs.2 through 5, show preliminarily the effectiveness of our design