SELF-REPAIRING AND ADAPTIVE CONTROL OF MIMO SYSTEMS WITH FAULTY SENSORS

This paper presents a design method for a self-repairing control system (SRCS) for multi-input multi-output systems with sensor failures of a stuck-type. Based on dynamic redundancy, the SRCS can replace the faulty sensors with the healthy ones. Exact fault detection can be attained with use of an auxiliary signal and an integrator, and so no diagnostic observer is used. Furthermore, a switched high-gain controller is introduced to cope with uncertainties and disturbances. Thus, for the plants with complex and unknown structures, one can construct the simple SRCS and achieve fault detection.