This paper tossed a challenge of developing a novel active fault-tolerant control scheme for switching systems subject to exogenous disturbances and sensor faults. The proposed method is based on a reconfiguration mechanism that uses a mixed \({H_\infty }/{{H}}_{-} \) formulation to design a robust state feedback FTC. This later is designed through a convex optimization technique which leads to solve linear matrix inequalities. Indeed, the main idea presented in this work is to develop an observer-based controller able to detect with accuracy the instant of fault occurrence, to compensate for the fault effect and to minimize the tracking error for all bounded reference inputs. To illustrate the efficiency of the tracking FTC scheme, extensive simulation results carried on a two-link robot arm are included.

中文翻译：

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具有传感器故障的一类开关系统的跟踪容错控制

本文提出了一个挑战，即为遭受外部干扰和传感器故障的开关系统开发一种新型的主动容错控制方案。所提出的方法基于一种重新配置机制，该机制使用混合\ {{H_ \ infty} / {{H}} _ {-} \）公式来设计鲁棒的状态反馈FTC。后者是通过凸优化技术设计的，该技术可以解决线性矩阵不等式。确实，这项工作中提出的主要思想是开发一种基于观察者的控制器，该控制器能够准确地检测故障发生的瞬间，以补偿故障影响并使所有有界参考输入的跟踪误差最小。为了说明跟踪FTC方案的效率，包括了在两连杆机械臂上进行的大量仿真结果。