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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 uncertainties of linear systems, we consider the possible faults of a type of sensor, namely, the decrease of gain of sensor signal, the failure of signal sometimes and the complete disconnection of signal channel. The system is designed by LQR theory The robust fault-tolerant controller can not only ensure the robustness of the closed-loop system but also ensure the integrity of the closed-loop system.The conclusions and proofs are given that the designed controller can be used both when the sensor is normal and when the sensor is faulty Can guarantee the stability of the closed-loop system.The simulation results show the effectiveness of the method.