For solving the additive and multiplicative sensor faults in the constrained system with unknown but bounded noise, the constrained zonotopic Kalman filter-based additive sensor fault estimator and multiplicative sensor fault estimator are designed, respectively. In the fault estimation process, the states of the system are contained in the zonotopic sets estimated by the constrained zonotopic Kalman filter. The fault detection is carried out by judging whether the true value of the system's output is within the upper and lower bounds of its estimated zonotopic set. Once a fault is detected in the system, the corresponding sensor fault estimator can be used to estimate the additive or multiplicative sensor faults, and the corresponding zonotopic set and interval set can be obtained, respectively. Finally, comparative analyses of the proposed constrained zonotopic Kalman filter-based fault estimators and the zonotopic Kalman filter-based fault estimators in both numerical and case simulations prove the feasibility and effectiveness of the proposed algorithm and show the advantages of this algorithm in view of conservativeness.

中文翻译：

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基于约束带位卡尔曼滤波器的传感器故障估计

为解决噪声未知但有界的约束系统中的加法和乘法传感器故障，分别设计了基于约束带位卡尔曼滤波器的加法传感器故障估计器和乘法传感器故障估计器。在故障估计过程中，系统的状态包含在约束带状卡尔曼滤波器估计的带状集中。故障检测是通过判断系统输出的真实值是否在其估计的带状集合的上下限内来进行的。一旦在系统中检测到故障，可以使用相应的传感器故障估计器来估计加性或乘性传感器故障，并分别获得相应的带状集和区间集。最后，