Active fault tolerant control of networked systems with sensor fault

In this paper, the active fault tolerant control problem of networked systems with sensor fault is studied. The network-induced delay treated as the round-trip time (RTT) delay and additive sensor fault are taken into consideration. A networked predictive active fault tolerant control (NPAFTC) scheme based on networked predictive control approach is proposed to eliminate the effect of the sensor fault and compensate for the network-induced delay at the same time. The network-induced delays of the two data transmission channels are described by the RTT delays, which can be extended to represent or include other communication constraints, such as packet disorder and loss. A new fault estimation method that can estimate the sensor fault and the system state simultaneously based on Kalman filter is presented. Then a predictive controller based state-feedback, which can generate a sequence of predictive control signals to actively compensate for the RTT delay, is designed. A sufficient condition is derived for the stability of the resulting closed-loop system by using the switched system theory. Finally, numerical simulation demonstrates the effectiveness of the proposed method.