Fault-Tolerant Control Redesign for Noisy High-Order Fully Actuated Systems
针对高阶全驱动系统，提出两种容错控制框架，通过融合观测器和冗余可观测性处理执行器与传感器故障，并引入死区融合观测策略抑制测量噪声，实验证明新框架在轨迹跟踪和噪声抑制上更优。
This article presents two fault-tolerant control (FTC) frameworks for high-order fully actuated systems (HOFASs) with actuator faults, sensor faults, and measurement noise. After analyzing the observable architecture corresponding to each measurement, actuator faults are compensated through fusion observers, and sensor faults are rejected through redundant observability. The first FTC framework with traditional fusion observers can merely yield an ultimately uniformly bounded (UUB) error system. To further suppress measurement noise, a dead-zone fusion observation strategy is applied to the FTC redesign. Especially in a linear HOFAS model, the noise suppression performance of the novel FTC framework is proved to be superior. In more general systems, two comparative cases experimentally illustrate trajectory tracking results and noise suppression performance.