研究一类受时变时滞影响的非线性不确定系统H∞鲁棒故障检测滤波器设计问题.首先采用基于观测器的故障检测滤波器作为残差产生器,将故障检测滤波器设计归结为H∞滤波问题;然后应用Lyapunov-Krasovskii方法,推导并证明了问题可解的依赖时滞的充分条件,通过求解线性矩阵不等式得到了观测器增益矩阵的解;最后通过算例验证了所提出方法的有效性. A class of H∞ robust fault detection filter design problem for nonlinear systems with uncertainties affected by time-varying delay is studied. First, fault observer-based fault detection filter is used as the residual generator, and the fault detection filter design is reduced to H∞ filter problem. Then, the Lyapunov-Krasovskii method is used to derive and prove the sufficient conditions for the problem-dependent delay-dependent problem. The solution of the gain matrix of the observer is obtained by solving the linear matrix inequality. Finally, Effectiveness.