For discrete systems with sensor and actuator failures, this paper proposes an observer that can estimate both sensor failures and actuator failures and designs a sliding mode predictive fault-tolerant control method based on an improved whale optimization algorithm. First, a proportional-integral observer that can observe actuator fault and sensor fault is designed to estimate the value of faults, which greatly improves the work efficiency. After that, a global sliding mode surface is designed as a prediction model, so that the initial state of the system is located on the sliding mode surface to avoid the instability of the sliding mode approaching the process. The reference trajectory of a power function with uncertainty and disturbance compensation is designed to reduce the bad influence of uncertainty and disturbance on the system and suppress chattering greatly. Meanwhile, in the rolling optimization part, an improved whale optimization algorithm(IWOA) is designed to optimize the control law. Finally, the simulation results on the four-rotor helicopter simulation platform show the practicability and superiority of the algorithm.

中文翻译：

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离散多故障系统的滑模预测主动容错控制方法

针对具有传感器和执行器故障的离散系统，本文提出了一种可以同时估计传感器故障和执行器故障的观测器，并设计了一种基于改进的鲸鱼优化算法的滑模预测容错控制方法。首先，设计了一个可以观察执行器故障和传感器故障的比例积分观测器来估计故障值，大大提高了工作效率。之后，设计了一个全局滑模面作为预测模型，使系统的初始状态位于滑模面上，避免了滑模逼近过程的不稳定性。设计具有不确定性和扰动补偿的幂函数的参考轨迹，以减少不确定性和扰动对系统的不良影响，极大地抑制颤振。同时，在滚动优化部分，设计了一种改进的鲸鱼优化算法（IWOA）来优化控制律。最后，在四旋翼直升机仿真平台上的仿真结果表明了该算法的实用性和优越性。