In this article, we present an active fault tolerant control scheme based on fault detection and isolation (FDI) for a class of uncertain systems subject to sensor faults. The FDI unit consists of a fault detection (FD) module and a fault isolation (FI) module, to determine when and where the sensor fault happens. It is noted that the FD module is based on a proposed adaptive interval observer where adaptive parameters instead of conservative uncertainty bounds are used, as a result, the sensitivity to faults is improved. When the FD module detects a fault, a compensation controller (CC) and an FI module are activated. The CC is designed to maintain some level of performance assuming all sensors are faulty. After the FI module determines the location of the fault, a reconfigured controller is activated to give improved performance with reduced conservatism. Importantly, the unmeasurable states and faulty output are approximated as a linear combination of their upper and lower bounds, and linear parameter are determined by adaptive laws. Finally, a simulation example is utilized to verify the effectiveness of the proposed scheme.

中文翻译：

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基于自适应间隔观测器的不确定系统存在传感器故障的主动容错控制

在本文中，我们针对一类受传感器故障影响的不确定系统，提出了一种基于故障检测和隔离（FDI）的主动容错控制方案。FDI单元由故障检测（FD）模块和故障隔离（FI）模块组成，以确定何时以及何处发生传感器故障。注意，FD模块基于提出的自适应间隔观察器，其中使用了自适应参数而不是保守的不确定性范围，因此，提高了对故障的敏感性。FD模块检测到故障时，将激活补偿控制器（CC）和FI模块。假设所有传感器均出现故障，CC旨在保持一定水平的性能。FI模块确定故障位置后，激活了重新配置的控制器，以提高性能并减少保守性。重要的是，不可测量的状态和错误的输出近似为其上下限的线性组合，线性参数由自适应定律确定。最后，通过仿真实例验证了所提方案的有效性。