对一类传感器故障具有完整性的鲁棒容错控制

Robust Fault-Tolerant Control Design for a Class of Sensor Failures

针对线性系统的不确定性 ,考虑一类传感器可能出现的故障 ,即传感器信号增益减小、信号时有时无以及信号通道完全断开的故障情况 ,利用最优二次型 (LQR)理论设计系统的鲁棒容错控制器 ,既可以保证闭环系统的鲁棒性 ,又可以保证闭环系统的完整性 .给出了结论和证明 ,设计得到的控制器在传感器正常时以及传感器出现该类故障时都可以保证闭环系统的稳定性 .仿真结果表明了方法的有效性 .

Considering the uncertainty of a linear system and a class of sensor failures including the reduction of sensors gains, the switching on off of sensor channels, and the switching off of sensor channels, a method of robust fault tolerant using LQR theory was studied. The resulting design guaranteed closed loop stability and robust performance not only when all sensors are operational, but also in case of some sensors outages. Conclusion and proof were given which ensured that the controller is insensitive to the class of failures. Simulation results identified the validity of the method.