中文摘要：

针对一类具有系统建模误差以及含传感器模型不确定项的非线性控制系统，本文提出了一种用于执行器故障检测与诊断的观测器方法。观测器中引入了自适应补偿项，当出现偏差后将对故障及建模不确定项进行补偿。自适应算法中采用了死区算子，增强了算法的鲁棒性。利用自适应阈值进行故障检测，同时利用自适应律进行偏差估计。仿真结果表明了该方法的有效性。

英文摘要：

Based on observer method, an algorithm of actuator fault detection and diagnosis is presented for a class of nonlinear control systems with system modeling errors and sensor modeling uncertainties. Adaptire compensation term is adopted in the observer to compensate the fault and modeling uncertainties when the actuator bias occurs. Dead-zone operator is adopted in the adaptive algorithm, which improves the robustness of the algorithm. Adaptive thresholds are derived for fault detection. An adaptive law is adopted to estimate the bias. Simulation results verify the effectiveness of the proposed method.